Study of resolution for harmonic drives controller with friction in precision robotic system

摘要

The friction model with the effects of friction and transmission flexibility of harmonic drives system is used for resolution study in precision control system. First, the resolution of a linear controller and an impulse controller in robotic manipulator system are studied respectively, then friction effect on resolution of impulse control system is investigated. Simulation and experiments show that the resolution of impulse control is much better than that of linear control, the friction in harmonic drive degrades the performance of impulse control, this will benefit the use of harmonic drive in precision control system.