Title :
Modeling, Identification, and Control of Harmonic Drives for Mobile Vehicles
Author :
Lemmer, László ; Kiss, Bálint
Author_Institution :
Dept. of Control Eng. & Inf. Technol., Budapest Univ. of Technol. & Econ.
Abstract :
This paper reports the modeling, identification, and control of harmonic drives in a novel configuration where all its shafts are allowed to move. This makes possible to solve a control problem where one applies two actuators in order to carry out simultaneous position and torque control on two different axes of the harmonic drive
Keywords :
drives; identification; position control; road vehicles; torque control; harmonic drive control; harmonic drive identification; harmonic drive modeling; mobile vehicles; position control; torque control; Actuators; Control engineering; Information technology; Shafts; Spline; Torque control; Variable speed drives; Vehicle driving;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252555
