DocumentCode
2629378
Title
Control of Harmonic Drive Motor Actuated Flexible Linkages
Author
Hauschild, J.-P. ; Heppler, G.R.
Author_Institution
Electr. Eng., Tech. Univ. of Hamburg-Harburg, Hamburg
fYear
2007
fDate
10-14 April 2007
Firstpage
3451
Lastpage
3456
Abstract
Friction models and compensation methods are applied to harmonic drive motors used with flexible robotic linkages. In the absence of output torque measurements and output shaft encoder data nearly complete friction compensation is achieved allowing the application of a passivity based controller. Simulation and experimental results are given.
Keywords
force control; friction; robots; torque control; flexible robotic linkages; friction compensation; friction models; harmonic drive motor; output torque measurements; Actuators; Couplings; Feedforward systems; Friction; High definition video; Robotics and automation; Servomotors; Shafts; Steady-state; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364006
Filename
4209624
Link To Document