Abstract
A variable viscous damper using electrorheological fluid (ERF) is developed to suppress torsional vibration of an industrial robot. An integrated system consisting of a drive motor, harmonic drive, linkage and ER damper is measured experimently and found to be able to reduce antiresonance / resonance phenomenon by increasing the viscosity of the ER damper. A position control system which is based on the conventional semiclosed control and this new ER damper is analyzed, and the relation between the ER damping coefficient and the bandwidth of the system is discussed using the pole assignment technique. It is shown that the ER damper provides both vibration suppression and disturbance rejection.
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