Aimed at achieving ultrahigh control performance for high-end applications of harmonic drives, an adaptive control algorithm using additional sensing, namely, the joint and motor positions and the joint torque, and their practically available time derivatives, is proposed. The proposed adaptive controller compensates the large friction associated with harmonic drives, while incorporating the dynamics of flexspline. The stability and the gain-induced stability are guaranteed in both joint torque and joint position control modes. Conditions for achieving asymptotic stability are also given. The proposed joint controller can be efficiently incorporated into any robot motion control system based on either its torque control interface or the virtual decomposition control approach. Experimental results demonstrated in both the time and frequency domains confirm the superior control performance achieved not only in individual joint motion, but also in coordinated motion of an entire robot manipulator.
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e-mail: Wen-Hong.Zhu@space.gc.ca
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March 2007
Technical Papers
Adaptive Control of Harmonic Drives
Wen-Hong Zhu,
Wen-Hong Zhu
Spacecraft Engineering, Space Technologies,
e-mail: Wen-Hong.Zhu@space.gc.ca
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, Canada
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Erick Dupuis,
Erick Dupuis
Spacecraft Engineering, Space Technologies,
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, Canada
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Michel Doyon
Michel Doyon
Spacecraft Engineering, Space Technologies,
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, Canada
Search for other works by this author on:
Wen-Hong Zhu
Spacecraft Engineering, Space Technologies,
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, Canadae-mail: Wen-Hong.Zhu@space.gc.ca
Erick Dupuis
Spacecraft Engineering, Space Technologies,
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, Canada
Michel Doyon
Spacecraft Engineering, Space Technologies,
Canadian Space Agency
, 6767 route de l’Aeroport, Saint-Hubert, QC J3Y 8Y9, CanadaJ. Dyn. Sys., Meas., Control. Mar 2007, 129(2): 182-193 (12 pages)
Published Online: August 11, 2006
Article history
Received:
October 20, 2005
Revised:
August 11, 2006
Citation
Zhu, W., Dupuis, E., and Doyon, M. (August 11, 2006). "Adaptive Control of Harmonic Drives." ASME. J. Dyn. Sys., Meas., Control. March 2007; 129(2): 182–193. https://doi.org/10.1115/1.2431813
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