This paper proposes a new vibration suppression control based on the coordinate transformation. In the new coordinate system, the vibration components of motor angle and velocity correspond to the horizontal and vertical axes, respectively. Owing to this, similar to the dq Transform in power electronics, the components draws a circle depending on the angle on the coordinate, and the vibration amplitude can be easily obtained. Thus, on this coordinate system, the components synchronized to the motor angle are expressed as a DC component. Hence, by introducing integral control, it is possible to completely suppress the vibration. High vibration suppression performance was confirmed by numerical simulations and experiments with an actual machine.

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