Robust speed control suppressing vibration caused by angular transmission error of planetary gear

This paper proposes a new robust speed control suppressing vibration caused by angular transmission error of planetary gear. For this purpose, first, this paper constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by the experimental data of the tested robot arm. Next, the proposed robust speed control system is designed by the two-degrees-of-freedom control system based on disturbance observer and coprime factorization. The numerical simulation results show that the proposed system regulates the motor velocity and suppresses the vibration.