Research on the EMA Control Method Based on Transmission Error Compensation

This research investigates the impact of nonlinear clearance factors on position tracking accuracy in the servo drive system of a harmonic reducer. The study introduces a technique for modeling and compensating for transmission errors, thereby improving position tracking accuracy through online comp...

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Bibliographic Details
Published in:	Energies (Basel) Vol. 17; no. 11; p. 2528
Main Authors:	Zhang, Pan, Shi, Zhaoyao, Yu, Bo, Qi, Haijiang
Format:	Journal Article
Language:	English
Published:	Basel MDPI AG 01-06-2024
Subjects:	Accuracy automatic disturbance rejection control Control algorithms Control equipment Controllers Deformation Efficiency Friction harmonic drive Magnets, Permanent Mathematical models Methods permanent magnet synchronous motor Robots root mean square error transmission error compensation Velocity Wheels
Online Access:	Get full text
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