Adaptive Control of Harmonic Drives
The innovation significantly improves the control performance of harmonic drives by using a proprietary control algorithm (i.e., software and a sophisticated parameter tuning procedure) together with a flexspline torque sensor. The conventional adaptive controller is modified to use torque sensor measurements and has been tested on four types of harmonic drives.
This technology can be easily incorporated in motion/force control of robot manipulators based on either the torque control interface or the virtual power flow principal that defines each dynamic coupling between a joint and a robot.
Various technologies are currently used to control harmonic drives in industrial applications. Each of these technologies has limitations that result in imperfect robotic motion control performance.
This invention offers a competitive control system for harmonic drives that are used in robotics and mechatronic systems.
Harmonic drives are used to control motion in applications requiring precise positional accuracy and repeatability, such as in precision machining, factory automation, robotics, and aerospace applications.
The Business Opportunity
Harmonic drives are widely used in robotic applications due to their compactness and ease of use. However, performance is always limited because of friction and flexibility issues.
This innovative adaptive controller is able to take into account the flexspline dynamics, to compensate for the friction, and to handle the uncertainties of dynamic parameters simultaneously. It would confer competitive advantage to a harmonic drive manufacturer with its improved motion and torque control performance, particularly for demanding robotic applications.
Technology Transfer Details
This technology is available for licensing.
The business opportunity may be referred to by its CSA case ID: 50718
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