Title

Vibration Suppression for Flexible Joint Industrial Robots using Resonance Ratio Control

Alternative Title

유연 관절 산업용 로봇의 공진비 제어를 이용한 진동억제 전략

DGIST Authors

Changmin Lee ; Sehoon Oh

Advisor

오세훈

Issued Date

2026

Awarded Date

2026-02-01

Type

Thesis

Description

Resonance Ratio control(RRC), Flexible Joint Robot

Table Of Contents

1. Introduction 1
1.1 Problem Statement 1
1.2 Related Works 2
1.2.1 Feedforward Approach 2
1.2.2 Feedback Approach 2
1.3 Thesis Overview 3
2. Flexible Joint Robot Dynamics and Load side Vibration Mechanism 4
2.1 Flexible Joint Robot(FJR) Dynamics 5
2.1.1 Two Inertia Model Dynamics 5
2.1.2 Load Vibration Mechanism in two inertia system 6
2.2 Multi Degree of Freedom Flexible Joint Dynamics 8
2.2.1 General Flexible Joint Dynamics Formulation 8
2.2.2 Load Vibration Mechanism in Multi-DoF Flexible Joint Robot 9
3. Resonance Ratio Control for Flexible Joint Robot 12
3.1 Resonance Ratio Control(RRC) in two inertia system 12
3.1.1 Closed-loop Properties of Position Control with RRC 13
3.2 Resonance Ratio Control(RRC) in Multi-DoF Flexible Joint Robots(FJR) 16
3.2.1 Modeling with RRC in Multi-DoF FJR 16
3.2.2 Closed-loop Position Control Properties for multi-DOF FJRs with RRC 17
4. Experiment and RRC Integrated Position Controller 20
4.1 Experiment1 Validation of RRC for Multi-DOF FJRs 20
4.1.1 Experiment1 Setup 20
4.1.2 Experiment1 Result: Multi-DOF Case 21
4.2 Experiment2 RRC Integrated Position Controller 22
4.2.1 Experiment2 Setup 22
4.2.2 Experiment2 Result: Controller Comparison 24
5. Conclusion 26

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/59672
http://dgist.dcollection.net/common/orgView/200000951627

DOI

10.22677/THESIS.200000951627

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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