Abstract:
A new type of robust trajectory tracking control for harmonic
using joint torque sensor and joint acceleration sensor
information is concerned with. Joint torque sensor information is
used to compensate the uncertainty of link and load
parameters. Joint acceleration feedback control will enhance the
robustness of the driving system, resist the dynamic
uncertainties and disturbing torque acted on the joint axis
within definite bandwidth, improve the joint tracking
performance, and resist the vibration of the load side of the
harmonic drive system. Experimental studies are carried out and
comparison of several controllers, such as PD and sensor-based
control, the experimental results clearly illustrate the
effectiveness of the proposed methods.
Key words: Harmonic
drive Acceleration Feedback control Vibration Disturbance Trajectory tracking
Manuscript received on
July 16, 1999; revised manuscript November 20, 1999
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