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This paper presents a novel modeling and compensation approach for the angular transmission error in harmonic drive gearings. In the modeling, physical phenomena of the transmission error due to nonlinear elastic deformations in micro-displacement region are especially dealt with, as well as the synchronous component which has been discussed in a variety of conventional studies. Based on the analyses...
This paper presents a compensation approach for nonlinear friction in a ball screw-driven table positioning system. In the compensator design, effects of nonlinear friction on the positioning performance at the inching motion are especially paid attention, where a precise nonlinear friction characteristic with nonlinear spring behavior is mathematically modeled and considered. Based on the friction...
This paper presents a command shaping technique based on a minimum jerk control approach for the fast and precise positioning in vibratory mechatronic systems, considering a target position correction during the positioning motion. The positioning controller is designed in the framework of 2-degrees-of-freedom control: a feedback compensator is synthesized by a Hinfin control design to ensure the...
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