Title :
Torque control of harmonic drive gears with built-in sensing
Author :
Godler, Ivan ; Hashimoto, Minoru
Author_Institution :
Kyushu Univ., Fukuoka, Japan
fDate :
31 Aug-4 Sep 1998
Abstract :
Force control is an important segment of intelligent motion control systems. To provide a high quality force control, it is necessary to make a bandwidth of the system as high as possible. Force or torque sensing therefore should be built into the existing components of a system. We study a possibility to build torque sensing into a harmonic drive gear reducer. Positioning of the strain gages to cancel the signal modulation is proposed. High linearity of sensing is achieved. Torque control by using a torque disturbance observer is implemented to improve static and dynamic characteristics of a control system with harmonic drive gear reducer. Experimental results of torque control are shown
Keywords :
drives; force control; force measurement; intelligent control; motion control; observers; servomechanisms; torque control; torque measurement; built-in sensing; dynamic characteristics; force control; force sensing; harmonic drive gear reducer; harmonic drive gears; high sensing linearity; intelligent motion control system; signal modulation cancelling; static characteristics; strain gages positioning; torque control; torque disturbance observer; torque sensing; Bandwidth; Capacitive sensors; Control systems; Force control; Gears; Intelligent control; Intelligent systems; Linearity; Motion control; Torque control;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.723004