Closed loop compensation of kinematic error in harmonic drives for precision control applications

Author

Gandhi, Prasanna S. ; Ghorbel, Fathi

Author_Institution

Dept. of Mech. Eng., Rice Univ., Houston, TX, USA

Volume

5

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

5268

Abstract

Harmonic drives are widely used in precision positioning applications because of their unique advantages including near zero backlash, high gear reduction and small weight. However, precision positioning is made difficult by inherent error that exists between input and output, known as kinematic error. The latter is difficult to compensate for because of its nonlinear periodic behavior and dependence on drive type, assembly, and environmental conditions. We present nonlinear PD-type control algorithms to compensate for the kinematic error independent of its form. Dynamic simulation and experimental regulation and tracking results obtained with a dedicated harmonic drive test setup demonstrate the effectiveness of our proposed control strategies

Keywords

closed loop systems; compensation; drives; kinematics; nonlinear control systems; position control; two-term control; closed loop compensation; control strategies; dynamic simulation; experimental regulation; harmonic drives; kinematic error; nonlinear PD-type control algorithms; precision control; precision positioning; Assembly; Couplings; Drives; Error correction; Gears; Kinematics; Mathematical model; Shafts; Testing; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833391

Filename

833391