Vibration Absorption Control of a Robot Arm by Software Servomechanism

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.