Suppressing vibration of horizontal robot arm with timing belts

Timing belts are widely used in many industrial applications, such as industrial robot arm. When the belts are used in a robot arm, however, it is difficult to drive the arm without vibrations due to the flexibility of the belts and the complicated machinery of the robot arm makes smooth motion control more difficult. We propose a position control system with suppression of vibrations, and the effectiveness of the proposed system is verified from experimental results