A method for determining and compensating for disturbance torques periodically occurring in a downstream drive motor harmonic drive

A method for determining and compensating for disturbance torques periodically occurring in a downstream drive motor harmonic drive using a driven-side torque sensor, which is an iterative process in which a substantial part, at the output side occurring along a relevant trajectory by means of the output-side torque sensor by periodically occurring disturbing torques torque error T the initially measured and recorded torque error signals a Fourier analysis are subjected to the Fourier coefficients a taking into account at least the gear ratio as well as any existing dynamic between motor and output torque from these error signals the calculated compensation on the same trajectory, a remaining residual error t , ,