Torque control of harmonic drive gears with built-in sensing

被引：0

作者：

Godler, I ^{[1
]}

Hashimoto, M ^{[1
]}

机构：

[1] Kyushu Univ, Fukuoka 8128581, Japan

来源：

IECON '98 - PROCEEDINGS OF THE 24TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 a 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.

引用

页码：1818 / 1823

页数：6

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