Harmonic drives are widely used in robotics and precision positioning systems because of their unique properties such as near-zero backlash, and high speed reduction ratio. However, they possess a periodic positioning error known as the transmission error and it causes vibrations on the output shaft of the gear. In this paper, an adaptive compensation scheme for the transmission error in indirect drive robots is proposed. To enhance the performance and to avoid deteriorating the transient response, two modifications are introduced to the basic compensation structure. The load side acceleration information is adopted in real-time control to measure and to reject the load side oscillations. Also, it is used in the adaptation laws to generate the compensation signal that cancels the vibrations on the load side. Experimental results show the effectiveness of the proposed schemes and the improvement in load side performance.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Adaptive Disturbance Cancellation for Indirect Drive Robots Using Joint Sensing Information
Cheng-Huei Han,
Cheng-Huei Han
University of California at Berkeley, Berkeley, CA
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Masayoshi Tomizuka
Masayoshi Tomizuka
University of California at Berkeley, Berkeley, CA
Search for other works by this author on:
Cheng-Huei Han
University of California at Berkeley, Berkeley, CA
Masayoshi Tomizuka
University of California at Berkeley, Berkeley, CA
Paper No:
DSCC2009-2762, pp. 777-783; 7 pages
Published Online:
September 16, 2010
Citation
Han, C, & Tomizuka, M. "Adaptive Disturbance Cancellation for Indirect Drive Robots Using Joint Sensing Information." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 777-783. ASME. https://doi.org/10.1115/DSCC2009-2762
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