Repetitive control to reduce speed ripple caused by strain wave gearing

Ivan Godler, Kouhei Ohnishi, Tadashi Yamashita

Research output: Contribution to conferencePaper

19 Citations (Scopus)

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 languageEnglish
Pages1034-1038
Number of pages5
Publication statusPublished - 1994 Dec 1
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 1994 Sep 51994 Sep 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Godler, I., Ohnishi, K., & Yamashita, T. (1994). Repetitive control to reduce speed ripple caused by strain wave gearing. 1034-1038. Paper presented at Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .