抄録
Modeling of hysteresis behavior of harmonic drive gearing is a difficult problem, which makes it difficult to compensate friction by using controlled actuators. Some researchers suggested to represent the hysteresis by using Maxwell-slip model, but some phenomena, such as drift and displacement-dependent friction torque, are not reproduced by Maxwell-slip model. This paper presents a new friction model that represent hysteresis, drift, and displacement-dependent friction torque. In addition, the model considers the relation between velocity and torque that can be observed through experiments. The proposed model is validated through comparison with experimental results obtained from a manipulator joint.
