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.
|出版ステータス||Published - 1994 12月 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月 5 → 1994 9月 9
|Other||Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)|
|Period||94/9/5 → 94/9/9|
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