Repetitive control to reduce speed ripple caused by strain wave gearing

Author

Godler, Ivan ; Ohnishi, Kouhei ; Yamashita, Tadashi

Author_Institution

Harmonic Drive Syst. Inc., Nagano, Japan

Volume

2

fYear

1994

fDate

5-9 Sep 1994

Firstpage

1034

Abstract

A strain wave gearing, also known as a harmonic drive gear, is frequently used in robotics actuators. Transmission error of the gear produces a speed ripple when the actuator operates. Since the transmission error of the strain wave gearing is a periodical function, it produces a speed ripple with defined and discrete frequencies. We show that at these conditions it is possible to use a repetitive control to reduce the speed ripple. To attain the system´s stability, it is important to provide a sufficient damping. A significant reduction of the speed ripple was confirmed, and some experimental results are shown

Keywords

actuators; damping; drives; robots; stability; velocity control; vibration control; damping; harmonic drive gear; periodical function; repetitive control; robotics actuators; speed ripple reduction; stability; strain wave gearing; transmission error; Actuators; Capacitive sensors; Damping; Frequency; Gears; Resonance; Robots; Shafts; Stability; Strain control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on

Conference_Location

Bologna

Print_ISBN

0-7803-1328-3

Type

conf

DOI

10.1109/IECON.1994.397932

Filename

397932