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Friction compensation of harmonic gear based on location relationship
Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering, 2016In the harmonic gear servo system, friction is associated with not only the velocity of the input shaft but also its angle position. Traditional friction compensation based on the velocity cannot guarantee the high motion accuracy. To address this problem, this article proposed a new friction model of harmonic gear servo system, which is related to ...
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