Optimal design method for dynamic vibration absorbers installed in multijoint mechanisms

In order to achieve fast robotic movement, a control system with a fast response time achieved by using a velocity control unit with high proportional control gain is needed. However, low-frequency mechanical resonance is a limitation. Installation of dynamic vibration absorbers is an effective method for decreasing the resonance peak and increasing the proportional gain. This paper proposes an optimal design method for dynamic vibration absorbers installed in multijoint mechanisms. The absorbers are driven by several motors and have dynamic coupling axes. Results of an experiment using a mechanisms with and without absorbers, are described and the validity of the proposed design method is confirmed