Good points! Another thing to consider is the stiffness of the payload. If the payload is too flexible, it will be more prone to vibrations. You might want to consider stiffening the payload or designing a compliant interface between the payload and the robotic arm.

Absolutely! Additionally, you can consider using passive or active vibration dampers. Passive dampers like rubber isolators can absorb some of the energy, while active dampers use sensors and actuators to cancel out the vibrations.

H! Residual vibrations can be quite problematic for precision tasks. One approach you can try is to optimize the trajectory planning algorithm. By smoothening the acceleration and deceleration curves, you can reduce the impulsive forces that cause vibrations.