Currently I am verifying the movement of my H-bot system using ODrive.
From the power spectrical density I read the frequency that is reproduced by the system, which is perfect. However, I found a third harmonic vibration. To find the cause of this I did some research and I have concluded it could be caused by controlling the BLDC motors. By controlling the motors differently a third harmonic is not necessary.
Does somebody know whether the ODrive controls the motors in the way it suppresses a third harmonic vibration? When that is the case, I have to find another reason why the third harmonic exists.