【非特許文献】
【0006】
【非特許文献1】Y.Kiyosawa, and J.Kurogi:“Introduction of Ultra Flat Strain Wave Gearing”, The JSME international conference on motion and power transmissions, Vol.2004, pp.76-79, (2004)
【非特許文献2】T.Hidaka, M.Sasahara, Y.Tanioka, K.Okada:“Torsional Vibration in the Robot Due to Wave Gears”, The JSME international journal series C, Vol.52, No.480, pp.2207-2212, (1986)(in Japanese)
【非特許文献3】S.Yanabe, A.Ito, A.Okamoto, T.Yamaguchi, M.Ikeda and H.Fujita:“Rotational Transmission Error of Harmonic Drive Device”, The JSME international journal series C, Vol.56, No.521, pp.148-153, (1990)(in Japanese)
【非特許文献4】K.Sato, J.Zheng, T.Tanaka and A.Shimokohbe:“Dynamics and Precision Rotational Positioning Control of a Mechanism with a Harmonic Speed Reducer”, The JSME international journal series C, Vol.65, No.629, pp.167-172, (1999)(in Japanese)
【非特許文献5】M.Kainuma, M.Yamamoto, M.Iwasaki:“Compensation for Nonlinear Characteristics in Harmonic Drive Gearings by Exact Linearization Method”, The Papers of Technical Meeting on Industrial Instrumentation and Control, IEE Japan, IIC-10-034
【非特許文献6】T.Mizuno, M.Yamamoto, M.Iwasaki, M.Kawafuku, H.Hirai, Y.Okitsu, K.Sasaki, and T.Yajima:“Mathematical Modeling of Angular Transmission Error by Gear Accuracy of Harmonic Drive Gearing”, Tokai-Section Joint Conference of the 8 Institutes of Electrical and related Engineers, O-140(2007)(in Japanese)
【非特許文献7】野波,田:「スライディングモード制御−非線形ロバスト制御の設計理論−」,コロナ社,(1994)
【非特許文献8】野波,西村,平田:「MATLABによる制御系設計」,東京電機大学出版局,(1998)
【非特許文献9】原,千田,野波,佐伯:「ロバスト制御のためのベンチマーク問題(II)−位置制御系の設計例−」,計測と制御,34巻.6号,pp.498-507, (1995)
【非特許文献10】M.Iwasaki, T.Shibata, and N.Matsui:“Disturbance Observer-Based Nonlinear Friction Compensation and Application to Table Drive System”, T.IEE Japan, Vol.118-D, No.1, pp.51-5, (1998)(in Japanese)
【非特許文献11】S.Hashimoto, K.Ohishi, K.Kosaka, T.Ishikawa, H.Kubota, and T.Ohmi:“A Control Method of Ultrasonic Actuator-Driven Precision Stages Based on Stick-Slip Compensation and Continuous-Path Tracking”, T.IEE Japan, Vol.125-D, No.6, pp.582-589, (2005)(in Japanese)