Closed-loop compensation of kinematic error in harmonic drives for precision control applications

Volume: 10, Issue: 6, Pages: 759 - 768
Published: Dec 10, 2002
Abstract
We present nonlinear control algorithms to compensate for kinematic error in harmonic drives, thus forming a solid basis to improve their performance in precision positioning applications. Kinematic error, defined as deviation between expected and actual output positions, influences performance by producing static positioning error and inducing dynamic vibration effects. Its compensation is difficult because of its nonlinear behavior and...
Paper Details
Title
Closed-loop compensation of kinematic error in harmonic drives for precision control applications
Published Date
Dec 10, 2002
Volume
10
Issue
6
Pages
759 - 768
Citation AnalysisPro
  • Scinapse’s Top 10 Citation Journals & Affiliations graph reveals the quality and authenticity of citations received by a paper.
  • Discover whether citations have been inflated due to self-citations, or if citations include institutional bias.