Method of suppressing vibrations of a robot arm with external objects

A method of controlling a robot arm, where the robot arm comprises robot joints connecting a base and a tool flange, where a robot joint comprises:

• an output flange that is movable in relation to a body of the robot joint;
• and
• a motor configured to move the output flange in relation to the body;
• wherein the method comprises:
• receiving vibrational properties of at least one external object connected to the robot arm via an external object installation interface;
• generating a target motion for the robot arm;
• and
• generating a control signal for the robot arm based on the target motion and the vibrational properties, the control signal comprising one or more control parameters for the motor.

A method of controlling a robot arm, where the robot arm comprises robot joints connecting a base and a tool flange, where a robot joint comprises:

• an output flange that is movable in relation to a body of the robot joint;
• and
• a motor configured to move the output flange in relation to the body;
• wherein method comprises operations comprising:
• instructing a first part of the robot arm to move to a first target position;
• generating a first target motion for the robot arm, the first target motion defining a motion of the robot arm that causes the first part of the robot arm to move to the first target position;
• generating a first control signal for the robot arm based on the first target motion and vibrational properties of at least one external object connected to the robot atm, where the control signal comprises one or more control parameters for motors of the robot joints:
• changing the vibrational properties of the of at least one external object;
• instructing a second part of the robot arm to move to a second target position;
• generating a second target motion for the robot arm, the second target motion defining a motion of the robot arm that causes the second part of the robot arm to move to the second target position;
• and
• generating a control signal for the robot arm based on the second target motion and the vibrational properties of the at least one external object that were changed, where the control signal comprises one or more control parameters for the motors.