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TECHNICAL PAPERS

H∞-Based Robust Torque Control of Harmonic Drive Systems

[+] Author and Article Information
H. D. Taghirad

K. N. Toosi U. of Technology, Dept. of Elec. Eng., P.O. Box 16315-1355, Tehran, Iran 16314e-mail: taghirad@eetd.kntu.ac.ir

P. R. Bélanger

Center for Intelligent Machines, McGill University, Montréal, PQ, H3A 2A7, Canadae-mail: pbelanger@fgsr.mcgill.ca

J. Dyn. Sys., Meas., Control 123(3), 338-345 (Nov 09, 1998) (8 pages) doi:10.1115/1.1376714 History: Received November 09, 1998
Copyright © 2001 by ASME
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References

Figures

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Harmonic drive transmission
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A picture of the experimental setups for the two harmonic drives
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Frequency response of the system under constrained-motion, theoretical and nominal models, and multiplicative uncertainty
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Frequency response of the free-motion system, nominal model, and multiplicative uncertainty
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Block diagram of the system considering multiplicative uncertainty for the plant
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Block diagram of system in H framework
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The frequency response of the two designed controllers; solid: constrained-motion, dashed: free-motion
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Closed-loop frequency performance of the system under constrained-motion; solid: weighting functions inverse, dashed: experimental frequency responses
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Closed-loop performance of the system under constrained-motion; solid: reference command, dotted: experimental result
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Closed-loop frequency performance of system under free-motion; solid: weighting functions inverse, dashed and dotted: experimental frequency responses
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Closed-loop performance of the system under free-motion; solid: reference command, dotted: experimental result
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Identified Coulomb and viscous friction curve for harmonic drive systems
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Block diagram of the friction-compensation algorithm
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Frequency response of the free-motion system with friction compensation, its nominal model, and multiplicative uncertainty
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Closed-loop frequency performance comparison of the system with and without friction-compensation; dashed: with friction-compensation, dash-dotted: without friction-compensation
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Closed-loop time performance comparison of the system with and without friction-compensation; solid: reference command, dash-dotted: with friction-compensation, dotted: without friction-compensation

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