In this paper, the torque control of a harmonic drive system for constrained-motion and free-motion applications is examined in detail. A nominal model for the system is obtained in each case from experimental frequency responses of the system, and the deviation of the system from the model is encapsulated by a multiplicative uncertainty. Robust torque controllers are designed using this information in an -framework, and implemented on two different setups. From time and frequency domain experiments, it is shown that the closed-loop system retains robust stability, while improving the tracking performance exceptionally well. To further improve the performance of the system for free-motion case, a feedforward friction-compensation algorithm is implemented in addition to the robust torque control. It is shown that friction-compensation will shrink the model uncertainty at low frequencies and hence, the performance of the closed-loop system will be improved at those frequencies.
-Based Robust Torque Control of Harmonic Drive Systems
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division November 9, 1998. Associate Editor: P. Voulgaris.
Taghirad, H. D., and Be´langer, P. R. (November 9, 1998). "-Based Robust Torque Control of Harmonic Drive Systems ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 338–345. https://doi.org/10.1115/1.1376714
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