Motion Control ofIndustrial Robot UsingNewNotchFiltering System forVibration Suppression andLittle PhaseError

Thispaperproposes a newgeneration methodof position reference without theresonant frequency andphase errorforindustrial robots. Itisimportant forindustrial robots todrive highspeedandhighaccuracy. However, thevibration phenomenon isgenerated bytheresonant frequency insuch cases. Conventionally, thenotchfilter isusedtosuppress the vibration phenomenon. Itisabletoeliminate a particular frequency. However, italsohasadisadvantage thatthereference phaseerrorisgenerated. Generating thephaseerrorinthe reference causes thecritical errorinthelocus whichtherobot draws.Therefore, theaccuracy oftherobotisdeteriorated by usingthenotchfilter. Theproposed methodovercomesthis problem byusing thecompensation gain. Thecompensation gain isusedtocalculate thereference phaseerror. Thecompensation ofthereference phase errorisperformed bythefeedforward. The numerical andtheexperimental results showthattheproposed methodissuperior tosuppress theresonant frequency and improves thephaseerror.