Optics and Precision Engineering, Volume. 27, Issue 3, 694(2019)

Neural network modeling of hysteresis for harmonic drive in industrial robots

DANG Xuan-ju1...2,*, WANG Kai-li1, JIANG Hui1, WU Xi-ru1 and ZHANG Xiang-wen1 |Show fewer author(s)
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  • 1[in Chinese]
  • 2[in Chinese]
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    References(14)

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    [2] [2] WU S Z, CHEN D. Research progress on application of precision gear reducer in robot joint transmission[J]. Journal of Henan Institute of Science and Technology, 2014, 42(6): 58-63. (in Chinese)

    [4] [4] DU ZH J, XIAO Y Q, DONG W. Modeling of Robot Joints with Friction, Backlash and Hysteresis[J].Robot, 2011,33(5): 539-545. (in Chinese)

    [6] [6] ZHAO Q. Study on Transmission Accuracy of Harmonic Drive with Composite Material Layer[D]. Chongqing: Chongqing University, 2015. (in Chinese)

    [7] [7] ZOU C, TAO T, JIANG G, et al.. Deformation and stress analysis of short flexspline in the harmonic drive system with load[C]. IEEE International Conference on Mechatronics and Automation. Takamatsu, Japan : IEEE, 2013, 466: 676-680.

    [8] [8] WAN Q ZH, LU ZH G, WANG K, et al.. Precision harmonic gear reducer transmission error analysis[J]. Instrument Technique and Sensor, 2013 (5): 51-54.(in Chinese)

    [9] [9] RUDERMAN M,BERTRAM T. Modeling and observation of hysteresis lost motion in elastic robot joints[J]. IFAC Proceedings Volumes,2012,45(22): 13-18.

    [11] [11] XIAO S, LI Y. Modeling and high dynamic compensating the rate-dependent hysteresis of piezoelectric actuators via a novel modified inverse preisach model[J]. IEEE Transactions on Control Systems Technology, 2013, 21(5): 1549-1557.

    [12] [12] DANG X,TAN Y H. RBF neural networks hysteresis modelling for piezoceramic actuator using hybrid model[J]. Mechanical Systems and Signal Processing,2007,21(1): 430-440.

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    [14] [14] LV Y, CHEN Q SH, LIU L SH, et al.. Test for torsional stiffness and hysteresis of input shaft of precision harmonic gear[J]. Journal of Hefei University of Technology: Science and Technology, 2013, 36(5): 523-526. (in Chinese)

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    DANG Xuan-ju, WANG Kai-li, JIANG Hui, WU Xi-ru, ZHANG Xiang-wen. Neural network modeling of hysteresis for harmonic drive in industrial robots[J]. Optics and Precision Engineering, 2019, 27(3): 694

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    Paper Information

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    Received: Jul. 3, 2018

    Accepted: --

    Published Online: May. 30, 2019

    The Author Email: Xuan-ju DANG (xjd69@163.com)

    DOI:10.3788/ope.20192703.0694

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