Systems and methods for non-rigid load vibration control

A system, comprising:

• a robot comprising an end effector;
• a rotational motor configured to be coupled to the end effector of the robot via a compliant linkage;
• a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the rotational motor to control movement of the end effector of the robot, the control system comprising:
• a processor;
• and
• a memory accessible by the processor, the memory storing instructions that, when executed by the processor, cause the processor to:
• generate a smooth move input profile to control the operation of the rotational motor based on inputs specifying a desired operation of the end effector of the robot, wherein a second derivative of the smooth move input profile is piece-wise continuous;
• apply a notch filter to the smooth move input profile to produce a filtered smooth move input profile, wherein the notch filter has a notch filter frequency that is determined based on a resonant frequency of the end effector;
• and
• send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to control the movement of the end effector.

A method, comprising:

• generating, via a control system, a smooth move input profile to control actuation of a motor coupled to an end effector of a robot via a compliant linkage based on inputs specifying a desired operation of the end effector of the robot, wherein a second derivative of the smooth move input profile is piece-wise continuous;
• applying, via the control system, a notch filter to the smooth move input profile to produce a filtered smooth move input profile, wherein the notch filter has a notch filter frequency that is determined based on a resonant frequency of the end effector;
• and
• sending, via the control system, a command to a drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.