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A Trajectory Shaping Approach for Suppressing the Fundamental Vibratory Mode in Strain Wave Gearing Mechanisms

[+] Author Affiliations
Michael Chan, Masayoshi Tomizuka

University of California Berkeley, Berkeley, CA

Paper No. DSCC2013-3901, pp. V001T15A006; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


While strain wave gearing mechanisms, such as harmonic drives, have many practical benefits when properly utilized, they also create challenging problems for control engineers. Namely, these flexible gear reduction mechanisms can create output vibrations which cannot be directly measured or controlled by the actuator. In this paper, an input shaping approach will be proposed to pre-compensate the desired output trajectory to account for the transmission dynamics such that the system’s actual output will follow the original desired trajectory. Several system parameters need to be empirically identified prior to using the proposed procedure. This identification process will also be outlined. Both simulation and experimental results on a 6 degree of freedom industrial robot will be provided to demonstrate the effectiveness of the proposed approach.

Copyright © 2013 by ASME



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