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.
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September 2001
Technical Papers
-Based Robust Torque Control of Harmonic Drive Systems
H. D. Taghirad,
H. D. Taghirad
K. N. Toosi U. of Technology, Dept. of Elec. Eng., P.O. Box 16315-1355, Tehran, Iran 16314
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P. R. Be´langer
P. R. Be´langer
Center for Intelligent Machines, McGill University, Montre´al, PQ, H3A 2A7, Canada
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H. D. Taghirad
K. N. Toosi U. of Technology, Dept. of Elec. Eng., P.O. Box 16315-1355, Tehran, Iran 16314
P. R. Be´langer
Center for Intelligent Machines, McGill University, Montre´al, PQ, H3A 2A7, Canada
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.
J. Dyn. Sys., Meas., Control. Sep 2001, 123(3): 338-345 (8 pages)
Published Online: November 9, 1998
Article history
Received:
November 9, 1998
Citation
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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