Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation | Zendy

Rached Dhaouadi | Zendy

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Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation

Author(s) -

Rached Dhaouadi

Publication year - 2004

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2004.p0388

Subject(s) - control theory (sociology) , nonlinear system , harmonic drive , hysteresis , torque , compensation (psychology) , stiffness , harmonic , observer (physics) , friction torque , controller (irrigation) , position (finance) , engineering , control engineering , computer science , physics , control (management) , structural engineering , mechanical engineering , artificial intelligence , quantum mechanics , psychoanalysis , thermodynamics , agronomy , finance , biology , economics , psychology

This paper proposes a nonlinear observer-based controller designed to compensate for friction in harmonic drives with hysteresis. Hysteresis in a harmonic drive is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. Nonmeasurable friction is derived using a nonlinear observer to provide asymptotic stability and position tracking. The performance of the proposed system is confirmed by computer simulation.

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