STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM
- Tan DL(谈大龙)
- Qiu ZC(邱志成)
- Han JD(韩建达)
DOIAbstract
A new type of robust traje ctory 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 enhace 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 ..
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