1988 Volume 31 Issue 3 Pages 583-587
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.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing