Abstract
This paper presents a vibration control using a variable notch filter to suppress mechanical vibrations due to angular transmission errors (ATEs) in harmonic drive gearings (HDGs). Mechanisms including HDGs excite resonant vibrations due to ATEs, especially in the condition that the frequency of synchronous components of ATE correspond to the ones of critical mechanical resonant vibration. In the proposed approach, therefore, a variable notch filter with free parameters of frequency and damping is designed to suppress the resonant vibrations during transient response, considering the sensitivity characteristics of the feedback system. The proposed control has been verified by numerical simulations and experiments for a uni-link robot arm.
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