Diyala Journal ISSN 1999-8716

of Engineering Printed in Iraq

Sciences
Vol. 06, No. 03, pp. 127-143, September 2013

VIBRATION AND KINEMATIC ANALYSIS OF SCARA

ROBOT STRUCTURE

Talib EH. Elaikh 1, HaiderJ. Abed 2, Kadhim M. Abed 3,

Salah M. Swadi 4, KadhimKarim M 5
1, 2, 3, 5
College of engineering, Thi-Qar University; 4College of Engineering, Mustansiria
University
(Received: 18/10/2011; Accepted: 27/12/2012)

ABSTRACT:-This paper presents a procedure for assessing the vibration analysis of type
SCARA robots. The motion and running conditions of such robots are very complicated that
leads to produce vibration and shock which are generated by arm profile in running
conditions .In this study the vibration analysis gives the feasibility of the preview control was
examined to improve the performance of the SCARA robots system. As it is important for
containment the robot arm trajectories generated by the model to show satisfactory safe
performance under vibration occurrence phenomena so that they completely avoid errors, the
results obtained from such vibration analysis assessment procedure are considered to be
valuable and reliable process not only with respect to vibration risk assessment but also for
predicting kinematic analysis by investigating the robot arm motion using the kinematic and
vibration methods. Forced vibrations is studied analytically help the designer to predict the
behavior and design the robot hardware or control system. Theoretical results show reduction
in both vibration amplitude and time history response.
Keywords:-SCARA robot, vibration analysis, Modeling, Control Kinematic analysis.

1- INTRODUCTION
SCARA robot is one of the industrial robots which can replace humans in carrying out
various types of operations. They can as well serve machine tools as to carry out various
tasks like welding, handling, painting, assembling, automotive, electronics and other
industries. SCARA robots have two rotational joints on a horizontal plane and usually one
translational joint on the vertical axis. The structure of SCARA robots is simple and they are
widely used all over the world because the structure is suitable for automation lines and other

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 VIBRATION AND KINEMATIC ANALYSIS OF SCARA ROBOT STRUCTURE

industrial purposes. SCARA robots are in particular utilized for pick-and-place task. In such
cases, the motion of SCARA robots commonly is periodic.
The robot was developed in the laboratory of Professor Makino at Japan's Yamanashi
(1)
University (Makino and Furuya) . Various studies were devoted to this architecture. A
dynamic modeling and linearization technique for a SCARA robot was presented by Tern et
(2)
al. . A new energy-saving method for SCARA robots was proposed by Guangqiang Lu
(3)
et.al. . To effectively reduce energy consumption, nonlinear robot dynamics are
mechanically liberalized in this paper. A complete mathematical model of SCARA robot
including servo actuators dynamics with dynamic simulation was presented by Mahdi et. al
(4)
. A simple method for estimating the dynamic parameters of SCARA robot has been
(5)
presented by Yan Meng and S.P.Chen . Residual vibrations of industrial SCARA robots in
wafer handling applications were investigated by WeiMIN et. al. (6). Philip Voglewede et. at.
(7)
were studied the dynamic performance of a SCARA robot manipulator with uncertainty
using polynomial chaos theory. Dynamic calibration of SCARA robot was presented by M.
Indri et. al. (8). Mathematical modeling, simulation and experimental verification of a SCARA
robot were presented by Das, M.T. and L. C. Dulger (9). Appropriate Mathematical Model of
(10)
DC Servo Motors Applied in SCARA Robots was presented by Attila L. Bencsik . A
mathematical model for an industrial track robot was proposed by WeiMIN Tao et. al. (11). A
complete mathematical model of SCARA robot and the PD controller for each robot joint is
presented by Das T. and Dülger C. (12).
The Selective Compliant Articulated/Assembly Robot Arm (SCARA) as shown in
figure (1) is usually a 4-axis industrial robot. The kinematics is like a human arm, with the
first joint being referred to as the shoulder and the second as the elbow. These two joints
allow movement in the X- and Y- axes. The third joint is a translation joint and moves along
the Z-axis. The last joint, called Theta-Z, gives a rotation around the Z-axis (wrist rotation).
The first robot arm articulated on the robot console and swivel able about a first
swivel axis as shown in figure (2), and second swivel arm articulated on the first swivel arm
and swivel able around the second swivel axis extending substantially parallel to the first
swivel axis, at least one work unit, at least one first swivel motor for swiveling an arm unit
composed of the first and second robot arms relative to the robot console, at least one second
swivel motor for turning the second robot arm relative to the first robot arm, and at least one
work motor for actuating the work unit, with the motors being controllable by a power
electronics, with electrical circuits including convertor circuits for current supply of the
motors and at least one control circuit for operating the convertor circuits and thereby for

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controlling the motors, and with at least one rectifier circuit being received in at least one
robot arm.
Vibration and kinematic analysis of SCARA robot are presented in this paper. In a
kinematic analysis the position, velocity and acceleration of all links are calculated without
considering the forces that cause this motion. The relationship between motion, and the
(13)
associated forces and torques is studied in robot dynamics . The kinematic separate in two
types, direct kinematics and inverse kinematics. In forward kinematics, the length of each
link and the angle of each joint is given and we have to calculate the position of any point in
the work volume of the robot. In inverse kinematics, the length of each link and position of
the point in the work volume is given and we have to calculate the angle of each joint.
Vibration analysis of this model using Lagrange’s approach was made to obtain frequency
equation the dynamic stiffness method applies mainly to excitations of harmonic nodal
forces. For vibrational loading, modal analysis is generally required. This study analyzes the
effects of vibration loading on the dynamic stability of a force-controlled flexible
manipulator. The forced vibration analysis is then carried out to obtain the eigenvalues and
eigenvectors. The modal approach for applied loading leads to the formulation of a model
used to predict the behavior of the SCARA robot. The aim of using MATLAB-Simulink-Sim
Mechanics is to build the model and to analyze the kinematic equation. The results of
kinematic and vibration analysis using MATLAB/Simulink software are presented.

2- KINEMATIC ANALYSIS:
(15)
The mathematical model of a two-joint type SCARA robot is illustrated . For the
mass centers of the robot links are concentrated at the centers of the arm. Hence, the two l
inks have the same moments of inertia. Table (1) shows the parameters of the two-link rigid -
type robot. The geometry of SCARA robot is shown in Fig (3).
The positions, velocities, and acceleration of SCARA robot shown in Fig. (3), can be
obtained by using the kinematic analysis and the aid of the Euler' identity as (16):
−𝑄±√(𝑄 2 −4∗𝑃∗𝑅)
𝜃1 = 2 tan−1( ) (1)
2∗𝑃

−𝑇±√(𝑇 2 −4∗𝑆∗𝑈)
𝜃2 = 2 tan−1( ) (2)
2∗𝑆

Where
𝑎2 −𝑏2 +𝑐 2 +𝑑2 𝑎2 −𝑏 2 +𝑐 2 +𝑑2
𝑃= + 𝑑, 𝑄 = −2𝑐 ,𝑎𝑛𝑑𝑅 = −𝑑 (3)
2𝑎 2𝑎
𝑎2 −𝑏 2 −𝑐 2 −𝑑2 𝑎2 −𝑏2 −𝑐 2 −𝑑2
𝑆= + 𝑑,𝑇 = −2𝑐, and 𝑈 = −𝑑 (4)
2𝑏 2𝑏

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The angular velocities of SCARA robot links are given by:

𝑐̇ tan 𝜃2 +𝑑̇
𝜔1 = 𝑎 (cos 𝜃 (5)
1 tan 𝜃2 − sin 𝜃1 )

𝑐̇ tan 𝜃1 +𝑑̇
𝜔2 = 𝑏 (cos 𝜃 (6)
2 tan 𝜃1 − sin 𝜃2 )

And the angular acceleration are:

𝑎𝜔12 sin 𝜃1 −(𝑎𝜔12 cos 𝜃1 cot 𝜃2 +𝑏𝜔22 cos 𝜃2 cot 𝜃2 +𝑑̈ cot 𝜃2 )+𝑐̈+𝑏𝜔22 𝑠𝑖𝑛 𝜃2
𝛼1 = (7)
𝑎( cos 𝜃1 + sin 𝜃1 cot 𝜃2 )

𝑎𝛼1 sin 𝜃1 +𝑎𝜔12 cos 𝜃1 +𝑏𝜔22 𝑐𝑜𝑠 𝜃2 +𝑑̈

𝛼2 = (8)
𝑏 𝑠𝑖𝑛 𝜃2

The translation accelerations of the links are:

𝐴1 = 𝑎𝑗𝛼1 𝑒 𝑗𝜃1 − 𝑎𝜔12 𝑒 𝑗𝜃1 (9)
𝐴2 = 𝑏𝑗𝛼2 𝑒 𝑗𝜃2 − 𝑏𝜔22 𝑒 𝑗𝜃2 (10)
𝐴3 = 𝑐̈ (11)
𝐴4 = 𝑑̈ (12)

3- VIBRATION ANALYSIS

The uncoupled equations of motion of a SCARA robot (as modeled in figure (4)),
subjected to vibrational loading can be derived by menus of the Lagrange’s equation
approach as:

The kinetic energy of the robot can be written as:

2
1 1  1
K.E  m1  L1 1   m1 L1 1   m 2 v 22  m 2 L 2  2 
2 1 1 2
(13)
2 2  2 2 2
Where, for small angle
2
 1 
v   L11  L22 
2
2 (14)
 2 
By substituting equation (14) in equation (13) & rearranging yields;
2 2
1 1  1 1   1
K.E  m1  L1 1   m1 L1 1   m 2  L1 1  L 2  2   m 2 L 2  2 
2 1 2

(15)
2 2  2 2  2  2

The potential energy of the SCARA robot can be written as:

1  1 
P.E  m1 gL 1 1  cos 1   m 2 g L1 1  cos 1   L 2 1  cos  2  (16)
2  2 

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 and then with respect to time we obtain:

After differentiating the equation (15) first for  1

d  K.E   5  1
    m1  m 2 L211  m 2 L1L 22 (17)
dt   1   4  2
Differentiating the equation (16) with respect to 1
P.E 1
 m1gL 1 sin 1  m 2 gL 1 sin 1 (18)
1 2
And, for a small angle

P.E  1 
   m  m gL 
 2 1 2 1 1 (19)
1
K .E D.E
0 ; 0 ; Q1  0
1 1 (20)
After repeating the same procedure for kinetic and potential energies for  2 , we obtained

d  K.E  1 5
   m 2 L1L 21  m 2 L222 (21)
dt   2  2 4
P.E 1
 m 2 gL 2 2 (22)
2 2
K .E D.E
0 ; 0 ; Q2  F
 2 2
(23)
Lagrange’s equation approach is:

d  K.E  K.E P.E D.E

     Qi
dt  q i  q i
(24)
q i q i
By substituting the equations (17, 19, and 20) in Lagrange’s equation yields

5  2 1 1 
 m1  m 2 L11  m 2 L1L 2   m1  m 2 gL11  0 (25)
4  2 2 
And. by substituting the equations (21, 22, and 23) in Lagrange’s equation we obtain:

1 5 1
m2 L1L21  m2 L222  m2 gL2 2  F (26)
2 4 2

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Now writing the equation of motion (25, 26) of the SCARA robot in matrix form:
𝟓 𝟏 𝐦
(𝟒 𝒎𝟏 + 𝐦𝟐 ) 𝐋𝟐𝟏 𝟐
𝐦𝟐 𝐋𝟏 𝐋𝟐 ̈ 𝟏 ( 𝟐𝟏 + 𝐦𝟐 ) 𝐠𝐋𝟏 𝟎 𝟏𝟎
[ ]{ } +[ ]{ } = { } (27)
𝐦𝟐
𝐋𝟏 𝐋𝟐
𝟓 𝟐
𝐦𝟐 𝐋𝟏 ̈ 𝟐 𝟎
𝐦𝟐
𝐠𝐋𝟐 𝟐 𝐅𝐨
𝟐 𝟒 𝟐

4- EIGEN VALUES & EIGEN VECTORS

Using the dynamic matrix procedure to determine the eigenvalues (natural

frequencies) and eigenvectors (mode shapes) of the SCARA robot as:

M K  0 (28)

Eigenvalues (natural frequencies)

 D   I  0 (29)

Eigenvectors (mode shapes):

D   I 0 (30)

ij
Time response:

  A     A 
 1  1 1   1
A 2  sin t         A  sin t   
2
 2   2 2
        (31)
       
f o  f o 
   
0  0  sin t   
   
   
For generalized response for SCARA robot is:

q i t    A j  ij sin  j t   j 
n

j1
(32)

q1 t   A111sin 1t  1   A 2 12 sin 2 t   2  (33)

q 2 t   A121 sin 1t  1   A 2 22 sin 2 t   2  (34)

The phase angles   can be determined from the four initial conditions of the SCARA
robot:
Initial displacement:
𝒒𝟏 (𝟎) = 𝟎 , 𝒒𝟐 (𝟎) = 𝟎 (35)
Initial velocities:

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𝒒𝟏̇ (𝟎) = 𝟎 , 𝒒𝟐̇ (𝟎) = 𝟎 (36)

By substituting the four initial conditions in equation’s (42, 43), we can obtained the phase
angle.

5- RESULTS ANDDISCUSSION

The end effector coordinates of the robotic arm (x and y) are located by using the
forward kinematics and meshgrid command in MATLAB package by introducing the values
of the positions θ1 and θ2 when the ranges of the angles θ1and θ2 are 0 ≤ θ1 ≤ 180º and 0
≤ θ2 ≤ 180ºrespectively, as shown in Fig. (5).

In fig. (6),we can see the X-Y coordinates are generated for all θ1 and θ2 combination
by using the forward kinematics for 0 ≤ θ1 ≤ 360º and 0 ≤ θ2 ≤ 360º.

When using inverse kinematics analysis by introducing the above values of (x and y) to
MATLAB program of the derived equations (1and 2), to get the same value of angles
relative to forward kinematics as shown in figure (7). By using MATLAB-Simulink-Sim
Mechanics to build the model and to analyze the kinematic equations, the same results for
position, velocity, and acceleration of the SCARA robot were found comparison to the results
which obtained when using derived equations, as shown in Figs. (9-11).

The frequency response of the SCARA robot is computed for a range of values of
exciting frequencies. The exciting load is a constant force Fo applied at the free end for the
second link as shown in Fig. (12).

6- CONCLUSION

Vibration and kinematics analysis of SCARA robot are presented in this paper. Also,
the Simulation studies were performed by using MATLAB software. The main concluding
remarks of the paper can be summarized as follows:

1- The model analysis of SCARA robot was performed. The natural frequencies and mode
shapes were obtained for several parameters combination. Frequency response analysis
was performed by finding the vibrational amplitudes and the accumulated deflections in
the free end of the robot.

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2- Dynamic analysis to analyze SCARA robot subject to loads that vary with time or
frequency where all links of the robot have resonant or natural frequencies, and if the
structure is excited at, or close to one of these frequencies then a very high amplitude
response can occur. Therefore, it is necessary to ensure in the design of the SCARA
robot that the resonant and excitation frequencies are not close to each other.
3- The behavior of a structure to time-varying excitation is computed. Frequency response
analysis computes the structural response to steady-state oscillatory excitation. In
addition, it is also possible to conduct a random analysis with frequency response.
4- MATLAB/ Simulink, structure for SCARA robot are built which enables the
researchers to investigate the robot parameters using both forward and inverse
kinematics.
5- An agreement between the results for derived equation and the MATLAB software is
certainly obtained herein.

REFERENCES
1- Makino, H., and Furuya, N. (1982). SCARA robot and its family. In Proceedings of
the 3rd International Conference on Assembly Automation Boeblingen, Germany433-
444.
2- Tern, T. J., Bejeay, A. K., Lotdorl, A., and Chen, Y. Nonlinear feedback in robust link
control. In Proceedings of the IEEE Control conference, New York, 1984, pp. 38–51
(IEEE, Piscataway, New Jersey.
3- Guangqiang Lu, Sadao Kawamura, and Mitunori Uemura” Proposal of an Energy
Saving Control Method for SCARA Robots, Journal of Robotics and Mechatronics
Vol. 24 No.1, 2012.
4- Mahdi S. Alshamasin, Florin Ionescu, Riad T. Al-Kasasbeh” Kinematic Modeling and
Simulation of a SCARA Robot by Using Solid Dynamics and Verification by
MATLAB/ Simulink, European Journal of Scientific Research, Vol.37 No.3 (2009),
pp.388-405.
5- Yan Meng and S. P. Chan “ Parameters Identification for SCARA Robot” The Fourth
International Conference on Control , Automation, Robotics and Vision, Singapore, 3-
6 December, 1996.
6- WeiMin TAO, MingJun ZHANG, Ou MA and XiaoPing YUN” Residual Vibration
Analysis and Suppression for SCARA Robots in Semiconductor Manufacturing”

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International Journalof Intelligent Controland Systems, VOL. 11, NO. 2, JUNE 2006,
97-105.
7- Philip Voglewede, Anton H. C. Smith, and Antonello Monti” Dynamic Performance
of a SCARA Robot Manipulator With Uncertainty Using Polynomial Chaos Theory
IEEE Transactions on Robotics, VOL. 25, NO. 1, February 2009.
8- M. Indri. G. Calafiore. G. Legnani. F. Jatta .A. Visioli” Optimized Dynamic
Calibrationofa SCARARobot, 15th Triennial World Congress, Barcelona, Spain 200.
9- Attila L. Bencsik (2004) “Appropriate Mathematical Model of DC Servo Motors
Applied in SCARA Robots” Acta Polytechnica Hungarica, Vol. 1, No. 2, 2004.

10- WeiMin Tao, MingJun Zhang, Ou Ma “Modeling and Vibration Suppression for
Industrial Track Robots” Proceedings of the 2006 IEEE International Conference on
Robotics and Automation Orlando, Florida - May 2006.
11- T. Das, C. Dülger “Mathematical modeling, simulation and experimental verification
of a SCARA robot” Simulation Modeling Practice and Theory 13 (2005) 257–271.
1985; 15(1):116-32.
12- Robot Kinematics, Wikipedia Web Site. http://www.wikipedia.com
13- Burton, T.D. Introduction to Dynamic Systems Analysis, McGraw-Hill, Inc., 1994.
14- K. Sahari, K. H. Weng, Y. W. Han, A. Anuar, M. Z. Baharuddin and S. S. K.
Mohideen” Design And Development Of A 4–Dof Scara Robot For Educational
Purposes, Journal Technology, Vol. 54, 2011, pp. 193–215.
15- Haider J. Abed “Kinematic analysis of bicycle pedaling” Thi- Qar university journal
for engineering science, Vol. 1, No.2, December, 2010.
16- Wu, J.S., Chou, H.M., 1999. A new approach for determining the natural frequencies
and mode shapes of a uniform beam carrying any number of sprung masses. Journal
of Sound and Vibration 220, 451–468.
17- D. Luenberger. Introduction to dynamic systems theory, models, and applications.
John Wiley and Sons, New York Chichester Brisbane Toronto, 1979.
18- C. Ross. Differential Equations An Introduction with Mathematica. Springer-Verlag,
New York Berlin Heidelberg.

NOMENCLATURE:

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[K] Stiffness matrix, [N/m]

[M] Mass matrix, [kg]
[D] Dynamical Matrix
[I] Identity Matrix
Q1, Q2 External Force [N]
Li Robot link length, [mm], (i =1, 2)
m1, m2 masses of Robot links1 and 2 respectively [kg]
g Gravity [m/s2]
Fo Excitation force [N]
𝜔1 , Angular velocities of links1 and 2 respectively (rad/sec).
𝑨𝟑 , 𝑨𝟒 Translation accelerations of links 3 and 4 respectively (m/sec2).
𝒄̇ , 𝒅̇ Linear velocities of links3 and 4 respectively (m/sec).
𝜶𝟏 , 𝜶𝟐 Angular accelerations of links 1 and 2 respectively (rad/sec2).
a Length of link 1 (m).
b Length of link 2 (m).
c Length of link 3 (it represents y component of robot’s tip) (m).
d Length of link 4 (it represents x component of robot’s tip) (m).
θi Angle of links (degree), (i = 1,2,3,4 ).

Table (1): Parameters of the two-link rigid -type robot.

Link Mass(kg) Length (m) Tensor of Moment of inertia(kg*m2)
[x y z]
1 1 1 [0.083 0 0;0 0 0; 0 0 0.083]

2 1 1 [0.083 0 0;0 0 0; 0 0 0.083]

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Figure (1): SCARA Robot (14).

Figure (2): Flow diagram (14).

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y
L2
2

L1
L3
3
1
x
L4
Figure (3): Geometry of SCARA robot.

L2

2 L3
L1

3
1
x
L4
Figure (4): Vibrational modeling of SCARA robot.

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Figure (5): X-Y generated for all and combinations

using forward kinematics (where and

Figure (6): X-Y generated for all and combinations

using forward kinematics (where and

Figure (7): Angle of link1 by forward and inverse

kinematics.
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Figure (8): SCARA robot simulation in MATLAB/ Simulink/ Sim-mechanics.

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Figure (9): Theta2 versus Theta1 for derived equations and Simulink model.

Figure (10): Angular velocities by derived equations and Simulink model.

Figure (11): Angular acceleration by derived equations and Simulink model.

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Figure (12): Mode shape of SCARA robot.

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‫التحليل االهتزازي والحركي لهيكل الروبوت ‪SCARA‬‬

‫كاظم محمد عبد‬ ‫طالب حريز عليخ‬ ‫حيدر جبار عبد‬

‫مدرس مساعد‬ ‫مدرس‬ ‫مدرس‬
‫كلية الهندسة‪ /‬جامعة ذي قار‬ ‫كلية الهندسة‪ /‬جامعة ذي قار‬ ‫كلية الهندسة‪ /‬جامعة ذي قار‬

‫صالح مهدي سوادي‬ ‫كاظم كريم محسن‬

‫مدرس مساعد‬ ‫استاذ مساعد‬
‫كلية الهندسة‪ /‬الجامعة المستنصرية‬ ‫كلية الهندسة‪ /‬جامعة ذي قار‬

‫الخالصة‬
‫يعرض هذا البحث إجراء تحليل لتقييم اهتزاز الروبوتات نوع ‪ .SCARA‬شروط الحركة والتشغيل لمثل هذا النوع من‬
‫الروبوتات معقدة جدا بحيث تودي إلى نشوء اهت اززات وصدمة متولدة عن مسار ذراع الروبوت خالل ظروف التشغيل‪.‬وفي‬
‫هذه الدراسة يعطي تحليل االهت اززات جدوى السيطرة المعاينة لتحسين أداء نظام الروبوتات ‪ SCARA‬كما أنه من المهم‬
‫احتواء مسارات ذراع الروبوت التي تم إنشاؤها بواسطة نموذج إلظهار أداء مقبوال وآمنا تحت ظاهرة حدوث االهتزاز‬
‫لتجنب األخطاء تماما‪ .‬أن هذه النتائج التي تم الحصول عليها من خالل إجراء تحليل لتقييم االهتزاز يمكن اعتبارها ذات‬
‫قيمة عملية وموثوقة‪ ،‬ليس فقط فيما يتعلق تقييم مخاطر االهتزاز ولكن أيضا للتنبؤ بالتحليل الكينيماتيكي من خالل تخمين‬
‫حركة اذرع الروبوت باستخدام الطرق الكينيماتيكية واالهتزاز‪.‬تم دراسة االهت اززات القسرية تحليليا لمساعدة المصممين للتنبؤ‬
‫بسلوك وتصميم أجهزة الروبوت أو نظام التحكم ‪.‬النتائج النظرية بينت انخفاضا في سعة االهتزاز ومسار االستجابة‬
‫الزمنية‪.‬‬

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