Title :
Instrumented harmonic drives for robotic compliant maneuvers
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
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
Keywords :
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; Couplings; DC motors; Impedance; Instruments; Power system harmonics; Robot sensing systems; Sensor phenomena and characterization; Stability criteria; Torque; Transfer functions;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131970
