A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints

A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints

Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method cont...

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Bibliographic Details
Main Authors: Qiang Xin, Chin-Yin Chen, Chongchong Wang, Guilin Yang, Chi Zhang, Zaojun Fang, Chun Lung Philip Chen
Format: Article
Language:English
Published: MDPI AG 2020-12-01
Series:Actuators
Subjects:
modular drive joint
velocity ripple
dual encoders
system damping
robustness
Online Access:https://www.mdpi.com/2076-0825/9/4/135

Internet

https://www.mdpi.com/2076-0825/9/4/135

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