Abstract
A strain wave gearing, also known as a harmonic drive gear, is frequently used in robotics actuators. Transmission error of the gear produces a speed ripple when the actuator operates. Since the transmission error of the strain wave gearing is a periodical function, it produces a speed ripple with defined and discrete frequencies. We show that at these conditions it is possible to use a repetitive control to reduce the speed ripple. To attain the system's stability, it is important to provide a sufficient damping. A significant reduction of the speed ripple was confirmed, and some experimental results are shown.
| Original language | English |
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| Pages | 1034-1038 |
| Number of pages | 5 |
| Publication status | Published - 1994 Dec 1 |
| Event | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy Duration: 1994 Sept 5 → 1994 Sept 9 |
Other
| Other | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) |
|---|---|
| City | Bologna, Italy |
| Period | 94/9/5 → 94/9/9 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering