{"title":"Torque control of harmonic drive gears with built-in sensing","authors":"I. Godler, M. Hashimoto","doi":"10.1109/IECON.1998.723004","DOIUrl":null,"url":null,"abstract":"Force control is an important segment of intelligent motion control systems. To provide a high quality force control, it is necessary to make a bandwidth of the system as high as possible. Force or torque sensing therefore should be built into the existing components of a system. We study a possibility to build torque sensing into a harmonic drive gear reducer. Positioning of the strain gages to cancel the signal modulation is proposed. High linearity of sensing is achieved. Torque control by using a torque disturbance observer is implemented to improve static and dynamic characteristics of a control system with harmonic drive gear reducer. Experimental results of torque control are shown.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1998-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.1998.723004","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 21
Abstract
Force control is an important segment of intelligent motion control systems. To provide a high quality force control, it is necessary to make a bandwidth of the system as high as possible. Force or torque sensing therefore should be built into the existing components of a system. We study a possibility to build torque sensing into a harmonic drive gear reducer. Positioning of the strain gages to cancel the signal modulation is proposed. High linearity of sensing is achieved. Torque control by using a torque disturbance observer is implemented to improve static and dynamic characteristics of a control system with harmonic drive gear reducer. Experimental results of torque control are shown.
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