JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
Print ISSN : 0914-8825
Vibration Absorption Control of a Robot Arm by Software Servomechanism
Hiroshi SAKUTAYutaka YOSHITANIYasushi MUKAITakahiro YONEZAWA
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1988 Volume 31 Issue 3 Pages 583-587

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Abstract

The prevention of robot arm vibration caused by resonance vibration arising from the torque vibration of a harmonic drive reduction gear has become a problem for high -speed robot drive. The paper presents a model of robot arm vibration, and demon-strates an effective full speed range vibration absorption control method by applying the theory of the dynamic damper. Vibration energy is absorbed by the feedforward control of power input, and a fiexible vibration absorption control system is established by the use of a software servomechanism.

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© The Japan Society of Mechanical Engineers
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