Abstract
This paper presents a vibration suppression approach for precision positioning mechanisms including harmonic drive gearings (HDGs), using a variable notch filter to suppress mechanical vibrations due to angular transmission errors (ATEs) in HDGs. Mechanisms with HDGs excite resonant vibrations, especially in the condition that the frequency of synchronous components of ATE correspond to the critical mechanical resonant frequency. 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 approach has been applied to motion control of an actual industrial 6-axis robot and verified by numerical simulations and experiments.
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