Howdy, Halfway through my build of the AR4 my 3d printer died on me and I have been going down a rabbit hole for upgrading my printer and have learned about all the cool new printer technology like input shaping which measures the machine vibration and compensates for it. I was just curious if something like this would be possible to use on a more complicated robot like the ar4 as well? Could you in theory put an accelerometer on the end of the arm and then measure the vibrations and have compensation to make smoother movements? Maybe this type of thing doesn't really apply because the arm isn't intended to be whizzing around at high speeds but just curious if anyone smarter then me had any thoughts on this and if there would be any application where it might be useful. Thanks