Closed-loop compensation for kinematic error in harmonic driver for precision control applications
AuthorGhorbel, Fathi Hassan; Ghandi, Prasanna S.
Nonlinear control algorithms to compensate for kinematic error in harmonic drives provide a solid basis to improve their performance of harmonic drives in precision positioning applications. The present closed loop control algorithms compensate for kinematic error irrespective of its form in both set-point and trajectory tracking applications.
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- Rice Patents