Robust Vibration Control Based on Rigid-Body State Observer for Modular Joints

Robust Vibration Control Based on Rigid-Body State Observer for Modular Joints

The vibration caused by resonance modes frequently occurs during acceleration and deceleration of the modular joint integrated with flexible harmonic drive. The conventional equivalent rigid-body velocity method with observer can suppress the residual vibration induced by resonant frequency but has...

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Bibliographic Details
Main Authors: Qiang Xin, Chongchong Wang, Chin-Yin Chen, Guilin Yang, Long Chen
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Machines
Subjects:
modular joint
residual vibration
torque ripple
model uncertainties
external disturbances
robustness
Online Access:https://www.mdpi.com/2075-1702/9/9/194

Internet

https://www.mdpi.com/2075-1702/9/9/194

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