RV Reduction Gear for Industrial Robot
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Motion Control Method Considering Angular Transmission Error of RV Reduction Gear
The reduction gear for the industrial robot requires the small size, high torque output, and high reduction ratio. Conventionally, the strain wave gearings has exploited for the industrial robot. Recently, considering the durability of reduction gear, RV reduction gear is often exploited for the industrial robot.
The reduction gear has an angular transmission error caused by the assembling error and the mechanism of reduction gear, The angular transmission error degrades the motion control performance. In addition, the unique angular transmission error of RV reduction gear is acknowledged as a problem. To overcome this problem, we research about the motion control method considering the angular transmission error of RV gear, based on the extended disturbance observer.