External Force Function for Simultaneous Rest-to-rest Motion for 2 Different Mode Oscillation

Abstract

Since many robot arms have multiple joints, multiple vibration modes occur. However, most of the previous studies treat merely a fundamental mode vibration, and higher modes are ignored. We proposed rotational vibration manipulation function to suppress the residual rotational oscillation of robot arm with an elastic reduction gear of harmonic drive. In this study, we performed simulations to discuss reference input for rest-to-rest angular motion that suppresses fundamental and secondary mode residual vibrations of a horizontal 2DOF robot arm. In vibration manipulation functions consisting of half-integer trigonometric functions, we show that such external force can be designed by appropriately selecting the operational period.