Masafumi Yamamoto, M. Iwasaki, M. Kainuma, Yoshifumi Okitsu, K. Yuki, Kozo Sasaki, T. Yajima
{"title":"Compensation for synchronous component of angular transmission errors in harmonic drive gearings","authors":"Masafumi Yamamoto, M. Iwasaki, M. Kainuma, Yoshifumi Okitsu, K. Yuki, Kozo Sasaki, T. Yajima","doi":"10.1109/AMC.2010.5464103","DOIUrl":null,"url":null,"abstract":"This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"25","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2010.5464103","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 25
Abstract
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.
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