歯車減速機構の内部励振に基づく回転速度変動の自己補償制御による抑制 : 第1報, ハーモニックドライブ減速機の強制励振成分の低減

In servo-controlled machine systems, such as robotics or industrial machines, several kinds of gear reducers are proposed and employed selectively. Usually, these gear reducers caused speed and torque variations depending upon their element error, alignment error, etc. Such variations excite driven machine systems and cause vibrations. This paper deals with the technique of eliminating such variations locally generated inside the gear reducer in a lower-frequency domain. To eliminate these low-frequency components of variation, a local feedback loop control scheme is proposed to establish a self-compensating function in geared systems. Consequently this control scheme suppresses the vibrations in the driven machine systems. Experiment using a harmonic drive gear reducer show satisfactory control results.