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- W2070294871 abstract "Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application." @default.
- W2070294871 created "2016-06-24" @default.
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- W2070294871 date "2011-01-01" @default.
- W2070294871 modified "2023-09-23" @default.
- W2070294871 title "Gearbox Ripple Rejection of Robots Using Observer and Adaptive Control Theory" @default.
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- W2070294871 doi "https://doi.org/10.3182/20110828-6-it-1002.00247" @default.
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