Usually, a belt driving system has low resonance because of the elasticity of the timing belts, and the low resonance may degrade the response performance and positioning precision. This paper presents a robot joint that links the motor side to the load side via a timing belt. This can be regarded as a two-inertia system. This paper proposes a novel control method that uses multiple motors on both the motor side and load side of a MISO system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple because the design only requires two parameters. Simulations and experiments were performed to demonstrate the effectiveness of the proposed control system.
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