Vibration suppressing control method of angular transmission error of cycloid gear for industrial robots

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 new extended state observer that is based on the model of a cycloid gear with angular transmission error. A compensation current is produced from the torque vibration, which is converted by the estimated speed vibration. The speed vibration is suppressed using this compensation current. The experimental results show that the proposed system suppresses the vibration of load speed.