Positioning control of gear train system including a flexible shaft.

Equations of motion of a gear train system which is composed of a flexible shaft, a pair of gears, and a link are derived in consideration of the torsion of the shaft, gear tooth stiffness, backlash, and characteristics of driving source. Using the bang-bang method to attenuate residual vibration of the system, the dynamic characteristics of the system are analyzed theoretically and investigated experimentally.