Vibration suppression feedback control on angular transmission error of cycloid gear for industrial robot

Author

Kawahara, Sho ; Ohishi, Kiyoshi ; Miyazaki, Toshimasa ; Yokokura, Yuki

Author_Institution

Dept. of Electr. Eng., Nagaoka Univ. of Technol., Nagaoka, Japan

fYear

2013

fDate

Feb. 27 2013-March 1 2013

Firstpage

859

Lastpage

864

Abstract

This paper proposes a method for suppressing the speed vibration caused by the angular transmission error in the cycloid gear used in industrial robots. It is important for industrial robots to have high accuracy. The arms of robot, however, are caused to vibrate by cycloid gears that have an angular transmission error. The proposed method for compensating for the speed vibration uses a speed vibration observer that is based on the model of an cycloid gear with angular transmission error. A compensation current is produced from the torque vibration, which is converted by the estimated speed vibration. The experimental results show that the proposed system suppresses the vibration of load speed.

Keywords

compensation; feedback; gears; industrial robots; observers; power transmission (mechanical); torque control; velocity control; vibration control; angular transmission error; compensation current; cycloid gear; industrial robot; speed vibration observer; torque vibration; vibration suppression feedback control; Gears; Observers; Robots; Time-frequency analysis; Torque; Transfer functions; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICM), 2013 IEEE International Conference on

Conference_Location

Vicenza

Print_ISBN

978-1-4673-1386-5

Electronic_ISBN

978-1-4673-1387-2

Type

conf

DOI

10.1109/ICMECH.2013.6519153

Filename

6519153