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STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM 被引量:12
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作者 Tan Dalong, Qiu Zhicheng, Han Jianda (Shenyang Institute of Automation, Chinese Academy of Sciences) 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2000年第3期234-240,共7页
A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertaint... A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods. 展开更多
关键词 Harmonic drive Acceleration Feedback control vibration disturbance Trajectory trackp
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