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Repetitive control to reduce speed ripple caused by strain wave gearing

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3 Author(s)
I. Godler ; Harmonic Drive Syst. Inc., Nagano, Japan ; K. Ohnishi ; T. Yamashita

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

Published in:

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on  (Volume:2 )

Date of Conference:

5-9 Sep 1994