Suppression of resonant vibration due to angular transmission errors of reduction gearing in industrial robots

Kenta Seki, Hiroyuki Nakamura, Makoto Iwasaki, Mirko Zanetti, Roberto Oboe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a vibration suppression approach by variable notch filters for mechanical resonant vibrations due to angular transmission errors (ATEs) of harmonic drive gearings (HDGs) in industrial robots. Robot arm joints including HDGs especially excite resonant vibrations in the condition that frequency of synchronous components in ATEs corresponds to the critical one of mechanical resonance. In this research, a variable notch filter whose angular frequency is synchronizing with motor velocity is designed to suppress the vibration during the robot motion. The proposed control approach has been verified by experiments using an actual industrial 6-axis robot.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages835-840
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: Feb 27 2013Mar 1 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period2/27/133/1/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Seki, K., Nakamura, H., Iwasaki, M., Zanetti, M., & Oboe, R. (2013). Suppression of resonant vibration due to angular transmission errors of reduction gearing in industrial robots. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 835-840). [6519149] https://doi.org/10.1109/ICMECH.2013.6519149