Patent ID: 6459940
Filing Date: 2002-10-01
Classification: G05B

Abstract:
A method for tracking control of kinematic error in a harmonic drive system having a motor side and a load side, comprising:calculating a control input, &tgr;m, for the harmonic drive using the equation where&tgr;m=Y(&thgr;m)(&tgr;md+Kp&thgr;leâˆ’Kd{dot over (&thgr;)}le), and&it;â€ƒ&it;Ï„md=(JmY2+Jl)&it;Î¸&DoubleDot;lr+Jm&it;Î¸__â€³Y4&it;Î¸.l&it;Î¸.lÏ„+(BmY2+Bl)where Y is a nonlinear function of kinematic error, Kp and Kd are positive constants, &thgr;m is the motor position of the harmonic drive, &thgr;le is the error defined as &thgr;l,râˆ’&thgr;l. where &thgr;l is the load position and &thgr;l,r is the desired load angle, {dot over (&thgr;)}le=d&thgr;le/dt, {umlaut over (&thgr;)}le=d2&thgr;le/dt2, {dot over (&thgr;)}lr=d&thgr;lr/dt, Jm is inertia on the motor side, Jl is inertia on the load side, Bm is damping on the motor side, and Bl is damping on the load side.