Vibration absorption control of robot arm by software servomechanism. (2nd report).

The prevention of robot arm vibration caused by resonance vibration which arises from the torque variation of a Harmonic drive reduction gear has become a problem for fast robot drive. The paper presented a model of robot arm vibration, and demonstrated an effective full speed range vibration absorption control method by applying the theory of the dynamic damper. Vibration energy was aborbed by the feed forward control of power input. A flexible vibration absorption control system was established by the use of a software servomechanism.