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High-speed precision tracking with harmonic drive systems using integral manifold control design

DSpace at IIT Bombay

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Title High-speed precision tracking with harmonic drive systems using integral manifold control design
 
Creator GANDHI, PS
GHORBEL, F
 
Subject kinematic error
 
Description Harmonic drives are popular in precision positioning applications such as military radars, satellite cameras, and wafer alignment machines because of their unique property of near-zero backlash. However, precision positioning performance is degraded by non-linear effects of inherent kinematic error and flexibility. This paper presents new non-linear controller development along with experimental veri. cation to compensate for kinematic error in the presence of flexibility in high-speed regulation and trajectory tracking applications. Several issues in implementation of complex theoretical controllers in experiments have been discussed. The development uses our previous algorithms to compensate only for the kinematic error ignoring flexibility effects ( U. S. Patent 6,459,940). The proposed control development is based on recent results on the integral manifold approach and guarantees asymptotic stability. We present simulation and experimental results to further demonstrate the effectiveness of our approach for practical application. Our results thus establish a solid basis for high-speed, high-precision control design for harmonic drive systems.
 
Publisher TAYLOR & FRANCIS LTD
 
Date 2011-08-31T00:21:53Z
2011-12-26T12:59:14Z
2011-12-27T05:50:19Z
2011-08-31T00:21:53Z
2011-12-26T12:59:14Z
2011-12-27T05:50:19Z
2005
 
Type Article
 
Identifier INTERNATIONAL JOURNAL OF CONTROL, 78(2), 112-121
0020-7179
http://dx.doi.org/10.1080/00207170500036225
http://dspace.library.iitb.ac.in/xmlui/handle/10054/12514
http://hdl.handle.net/10054/12514
 
Language en