Repetitive control to reduce speed ripple caused by strain wave gearing

Ivan Godler, Kouhei Ohnishi, Tadashi Yamashita

研究成果: Paper査読

19 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1034-1038
ページ数5
出版ステータスPublished - 1994 12 1
イベントProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
継続期間: 1994 9 51994 9 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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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