Fast and Precise Motion Control for Industrial Positioning Devices with Strain Wave Gearing
Friday, 19 February 2021 10:00 PM JST (8:00 AM EST, 2:00 PM CET)
by Makoto Iwasaki (Nagoya Institute of Technology, JAPAN)
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The webinar talk presents a practical motion controller design technique for precision positioning devices including strain wave gearing, e.g. industrial multi-axis robots, precision rotation stages, etc. Since HarmonicDrive® gears (HDGs), a typical strain wave gearing, inherently possess nonlinear properties known as Angular Transmission Errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gearing in the devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of ATE corresponds to the critical mechanical resonant frequency. The seminar, therefore, focuses on the accurate settling and vibration suppression in positioning, in order to improve the performance deteriorations by applying model-based feedforward and feedback control approaches. In the compensator design, under the assumption that the accurate mathematical models for ATE can be obtained, a model-based feedforward compensation has been introduced to improve the settling performance in the load position, as well as a feedback compensator with a variable notch filter has been adopted to achieve the mechanical vibration due to the ATE effects. The proposed approaches have been applied to precision motion control of actual devices as servo actuators, and verified through numerical simulations and experiments.
Professor Makoto Iwasaki (IEEE Fellow) received the B.S., M.S., and Dr. Eng. degrees in electrical and computer engineering from Nagoya Institute of Technology, Nagoya, Japan, in 1986, 1988, and 1991, respectively. Since 1991, he has been with the Department of Computer Science and Engineering, Nagoya Institute of Technology, where he is currently a Professor at the Department of Electrical and Mechanical Engineering.
As professional contributions of the IEEE, he has been an AdCom member of IES in term of 2010 to 2019, a Technical Editor for IEEE/ASME TMech from 2010 to 2014, an Associate Editor for IEEE TIE since 2014, a Management Committee member of IEEE/ASME TMech (Secretary in 2016 and Treasurer in 2017), a Co-Editors-in-Chief for IEEE TIE since 2016, a Vice President for Planning and Development in term of 2018 to 2021, respectively. He is IEEE fellow class 2015 for “contributions to fast and precise positioning in motion controller design”.
He has received the Best Paper Award of Trans of IEE Japan in 2013, the Best Paper Award of Fanuc FA Robot Foundation in 2011, the Technical Development Award of IEE Japan in 2017, the Nagamori Awards in 2017, the Ichimura Prize in Industry for Excellent Achievement of Ichimura Foundation for New Technology in 2018, the Technology Award of the Japan Society for Precision Engineering in 2018, and the Commendation for Science and Technology by the Japanese Minister of Education in 2019, respectively. His current research interests are the applications of control theories to linear/nonlinear modeling and precision positioning, through various collaborative research activities with industries.