Vibration suppression control of robot arms using ahomogeneous-type electrorheological fluid

摘要

A variable viscous damper using electrorheological (ER) fluid isdeveloped to suppress torsional vibration of industrial robot. Anintegrated system consisting of drive motor, harmonic drive, arm linkageand ER damper was measured experimentally and found to be able to reducethe resonance/antiresonance phenomenon by increasing the viscosity of ERdamper. A position control system, which is based on both theconventional semi-closed loop control and this new type ER damper, isanalyzed and the relation between the ER damping coefficient and thebandwidth of the system is discussed using pole assignment technique. Itis shown that the ER damper provides both vibration suppression anddisturbance rejection