Study of resolution for harmonic drives controller with friction in precision robotic system

Author

Shao-wen Le ; Gang-jun Li

Author_Institution

Electromech. Eng. Dept., Chengdu Electromech. Coll., Chengdu, China

Volume

4

fYear

2011

fDate

26-28 July 2011

Firstpage

2404

Lastpage

2407

Abstract

The friction model with the effects of friction and transmission flexibility of harmonic drives system is used for resolution study in precision control system. First, the resolution of a linear controller and an impulse controller in robotic manipulator system are studied respectively, then friction effect on resolution of impulse control system is investigated. Simulation and experiments show that the resolution of impulse control is much better than that of linear control, the friction in harmonic drive degrades the performance of impulse control, this will benefit the use of harmonic drive in precision control system.

Keywords

drives; friction; manipulators; power transmission (mechanical); friction model; harmonic drives system; impulse controller; linear controller; precision control system; resolution; robotic manipulator system; transmission flexibility; Control systems; Frequency modulation; Friction; Harmonic analysis; Histograms; Mathematical model; Robots; controller; harmonic drives; precision systems; resolution;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems and Knowledge Discovery (FSKD), 2011 Eighth International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-61284-180-9

Type

conf

DOI

10.1109/FSKD.2011.6019939

Filename

6019939