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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364006
