Compensation for synchronous component of angular transmission errors in harmonic drive gearings
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmiss...
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| creator | Yamamoto, Masafumi Iwasaki, Makoto Kainuma, Makoto Okitsu, Yoshifumi Yuki, Kato Sasaki, Kozo Yajima, Toshio |
| description | This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings. |
| doi_str_mv | 10.1109/AMC.2010.5464103 |
| format | Conference Proceeding |
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In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.</description><subject>AC motors</subject><subject>Actuators</subject><subject>Error correction</subject><subject>Gears</subject><subject>Kinematics</subject><subject>Performance analysis</subject><subject>Prototypes</subject><subject>Service robots</subject><subject>Shafts</subject><subject>Synchronous motors</subject><issn>1943-6572</issn><issn>1943-6580</issn><isbn>1424466687</isbn><isbn>9781424466689</isbn><isbn>1424466695</isbn><isbn>1424466709</isbn><isbn>9781424466702</isbn><isbn>9781424466696</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkE1LAzEYhOMXWGvvgpf8ga3J5mtzLItVoeJFz_Xd9c020k1KshX6712x6FyG4WHmMITccDbnnNm7xXM9L9mYlNSSM3FCrrgspdRaW3VKJtxKUWhVsbN_UJnzP2DKSzLL-ZONEqVl2k7Iex37HYYMg4-BuphoPoR2k2KI-0zbEcaAYaDRUQjdfguJDglC7n3OPw1MKaZMfaAbSH0MvqUfyX8h7RCSD12-JhcOthlnR5-St-X9a_1YrF4enurFqvBc6aFoHVRCuabhXNgWNZQgLTA02JjGgDBagVKKo9BasLYy1hnFuAOlK2VFI6bk9nfXI-J6l3wP6bA-PiW-ASGwWkM</recordid><startdate>201003</startdate><enddate>201003</enddate><creator>Yamamoto, Masafumi</creator><creator>Iwasaki, Makoto</creator><creator>Kainuma, Makoto</creator><creator>Okitsu, Yoshifumi</creator><creator>Yuki, Kato</creator><creator>Sasaki, Kozo</creator><creator>Yajima, Toshio</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201003</creationdate><title>Compensation for synchronous component of angular transmission errors in harmonic drive gearings</title><author>Yamamoto, Masafumi ; Iwasaki, Makoto ; Kainuma, Makoto ; Okitsu, Yoshifumi ; Yuki, Kato ; Sasaki, Kozo ; Yajima, Toshio</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i156t-cfa835fbb1139ce6a2a49a0e7eb7b7a3765a5551e36630c879f7501fa568593b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng ; jpn</language><creationdate>2010</creationdate><topic>AC motors</topic><topic>Actuators</topic><topic>Error correction</topic><topic>Gears</topic><topic>Kinematics</topic><topic>Performance analysis</topic><topic>Prototypes</topic><topic>Service robots</topic><topic>Shafts</topic><topic>Synchronous motors</topic><toplevel>online_resources</toplevel><creatorcontrib>Yamamoto, Masafumi</creatorcontrib><creatorcontrib>Iwasaki, Makoto</creatorcontrib><creatorcontrib>Kainuma, Makoto</creatorcontrib><creatorcontrib>Okitsu, Yoshifumi</creatorcontrib><creatorcontrib>Yuki, Kato</creatorcontrib><creatorcontrib>Sasaki, Kozo</creatorcontrib><creatorcontrib>Yajima, Toshio</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yamamoto, Masafumi</au><au>Iwasaki, Makoto</au><au>Kainuma, Makoto</au><au>Okitsu, Yoshifumi</au><au>Yuki, Kato</au><au>Sasaki, Kozo</au><au>Yajima, Toshio</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Compensation for synchronous component of angular transmission errors in harmonic drive gearings</atitle><btitle>2010 11th IEEE International Workshop on Advanced Motion Control (AMC)</btitle><stitle>AMC</stitle><date>2010-03</date><risdate>2010</risdate><spage>361</spage><epage>365</epage><pages>361-365</pages><issn>1943-6572</issn><eissn>1943-6580</eissn><isbn>1424466687</isbn><isbn>9781424466689</isbn><eisbn>1424466695</eisbn><eisbn>1424466709</eisbn><eisbn>9781424466702</eisbn><eisbn>9781424466696</eisbn><abstract>This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.</abstract><pub>IEEE</pub><doi>10.1109/AMC.2010.5464103</doi><tpages>5</tpages></addata></record> |
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| ispartof | 2010 11th IEEE International Workshop on Advanced Motion Control (AMC), 2010, p.361-365 |
| issn | 1943-6572 1943-6580 |
| language | eng ; jpn |
| recordid | cdi_ieee_primary_5464103 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | AC motors Actuators Error correction Gears Kinematics Performance analysis Prototypes Service robots Shafts Synchronous motors |
| title | Compensation for synchronous component of angular transmission errors in harmonic drive gearings |
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