Paper Info
Title
Instrumented harmonic drives for robotic compliant maneuvers
Abstract
The dynamic behaviour of a harmonic drive, in particular the non-backdrivability, is developed in terms of a sensitivity transfer function (or 1/impedance). The instrumentation of the harmonic drive with torque sensor is described. This leads to a description of the control algorithm which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability criteria. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to verify the theoretical predictions
Year
DOI
Venue
1991
10.1109/ROBOT.1991.131970
ICRA
Keywords
Field
DocType
dc motors,closed loop systems,electric drives,robots,sensitivity analysis,stability,transfer functions,dc motor,closed-loop stability,dynamic behaviour,instrumented harmonic drive,robotic compliant maneuvers,sensitivity transfer function,torque sensor,transfer function,torque,impedance,couplings
Control theory,Torque sensor,Control theory,Harmonic,DC motor,Electrical impedance,Control engineering,Transfer function,Harmonic drive,Engineering,Instrumentation
Conference
Volume
Issue
Citations 
1991
1
2
PageRank 
References 
Authors
0.90
1
1
Name
Order
Citations
PageRank
H. Kazerooni1766314.26