Abstract
As the motor which drives a robot arm produces d torque ripple effect, the resulting resonance vibration in the robot arm impedes the robot's high locus precision. To counteract this problem, using software servo, a correction signal which cancels the torque ripple is fed into the system, and this eliminates resonance vibration. The method for this procedure is presented in this paper. For the derivation of this correction signal, the theory for single-plane balancing of rotor vibration may be applied, which makes it possible to derive the correction signal accurately and systematically. Experimental testing in which this technique was applied to a robot of one degree of freedom was performed. The experimental results adequately verified the effectiveness of this technique.
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