Vibration Suppression Method by Compensation Torque for High Speed Tracking Motions

Abstract

The purpose of this study is to develop a novel mechanical vibration suppression method for high speed tracking motions. In this study, the mechanical vibration suppression method by applying vibration compensation torque to cancel the mechanical vibration during high speed tracking motions is proposed. In order to evaluate the effectiveness of the proposed method, rectangular corner tracking motions with applying the compensation torque are measured and simulated. As the results, it is confirmed that the proposed method can effectively suppress the vibration when the motion direction changes. It is also clarified that proposed method can effectively works for various feed speed by automatically adapting the torque based on the proposed criteria.