contributor author | H. D. Taghirad | |
contributor author | P. R. Bélanger | |
date accessioned | 2017-05-09T00:04:26Z | |
date available | 2017-05-09T00:04:26Z | |
date copyright | September, 2001 | |
date issued | 2001 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26286#338_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/124936 | |
description abstract | 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 H∞-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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | H∞-Based Robust Torque Control of Harmonic Drive Systems | |
type | Journal Paper | |
journal volume | 123 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.1376714 | |
journal fristpage | 338 | |
journal lastpage | 345 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2001:;volume( 123 ):;issue: 003 | |
contenttype | Fulltext | |