Abstract
This paper describes a method for compensating friction caused by the harmonic gear in revolute joint. A torque sensor is attached to the output member of the harmonic gear to measure the friction torque during back driving, and, contrary to conventional methods, torque data according to both the angular velocity and angular acceleration was measured to consider hysteresis. After dividing the measured data into four sections, a friction model was modeled in a quintic polynomial through the curve fitting method in each section. We experimented to estimate the reduction in resistive friction torque during back driving using a 1-DOF test platform with the proposed friction compensation. Moreover, we experimentally compared the position tracking performance with and without friction compensation using the cycling motion of a 2-DOF test platform. Finally, the performance of the friction model proposed in this paper was successfully verified.
| Translated title of the contribution | Friction Compensation of Electric-Motor Driven Revolute Joint with Harmonic Gear |
|---|---|
| Original language | Korean |
| Pages (from-to) | 259-265 |
| Number of pages | 7 |
| Journal | 한국생산제조학회지 |
| Volume | 29 |
| Issue number | 3 |
| DOIs | |
| State | Published - Jun 2020 |