Discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback

This paper presents an event-based discontinuous control scheme for harmonic drive transmission. It combines motor-level PD control refined by load-level acceleration feedback and output torque control. Switching between these two control strategies is based on the external condition of HD. This intends to generate appropriate control actions according to the critical problems of HD, which are different and closely dependent on its external conditions. Extensive experiments are conducted on a single link device driven by an AC motor and harmonic transmission to test the effectiveness of the proposed scheme.