Optics and Precision Engineering, Volume. 19, Issue 5, 1104(2011)

Modeling and compensation of nonlinear friction in harmonic driver

HAN Bang-cheng1...2,*, MA Ji-jun1,2, and LI Hai-tao12 |Show fewer author(s)
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  • 1[in Chinese]
  • 2[in Chinese]
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    References(15)

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    [5] [5] TAGHIRADT H D, BELANGERT P R. An experimental study on modeling and identification of harmonic drive systems [C]. IEEE Proceedings of the 35th Conference on Decision and Control, Kobe, Japan. December, 1996:4725-4730.

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    [10] [10] TAGHIRADT H D, BELANGERT P R. An experimental study on modeling and identification of harmonic drive systems [C]. IEEE Proceedings of the 35th Conference on Decision and Control, Kobe, Japan. December, 1996:4725-4730.

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    [13] [13] JAMALUDIN Z, BRUSSEL H V, JAN S. Friction compensation of an XY feed table using friction-model-based feedforward and an inverse-model-based disturbance observer [J]. IEEE Transactions on Industrial Electronics, 2009,56(10):3848-3853.

    [14] [14] LRINC M, BLAL. Modeling, identification, and compensation of stick-slip friction [J]. IEEE Transactions on Industrial Electronics, 2007,54(1):511-521.

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    HAN Bang-cheng, MA Ji-jun, LI Hai-tao. Modeling and compensation of nonlinear friction in harmonic driver[J]. Optics and Precision Engineering, 2011, 19(5): 1104

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    Paper Information

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    Received: Jun. 25, 2010

    Accepted: --

    Published Online: Jun. 15, 2011

    The Author Email: Bang-cheng HAN (hanbangcheng@buaa.edu.cn)

    DOI:10.3788/ope.20111905.1104

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