Title :
Compensation for synchronous component of angular transmission errors in harmonic drive gearings
Author :
Yamamoto, Masafumi ; Iwasaki, Makoto ; Kainuma, Makoto ; Okitsu, Yoshifumi ; Yuki, Kato ; Sasaki, Kozo ; Yajima, Tamotsu
Author_Institution :
Dept. of Comp. Sci. & Eng., Nagoya Inst. of Technol., Nagoya, Japan
Abstract :
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.
Keywords :
compensation; drives; gears; power transmission (mechanical); angular transmission errors; dynamic positioning motions; harmonic drive gearings; model-based feedforward compensation; static positioning motions; synchronous component; AC motors; Actuators; Error correction; Gears; Kinematics; Performance analysis; Prototypes; Service robots; Shafts; Synchronous motors;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464103
