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Torsional vibration is an important matter in two-mass resonance systems, such as robots. If the rate of load inertia/motor inertia and the shaft stiffness are small mechanical vibrations will easily be done. A two-mass resonance system is being considered in this article. Controlling the rate of resonance is one of the effective methods in controlling the two-mass systems and reducing the rate of vibration. Two-mass systems structures, connected as two masses by a spring, could be used in robots or machine tools. Machines components, such as gears and shafts could limit the relevant cycle and stick-slip.