Control of harmonic drive motor actuated flexible linkages

被引：12

作者：

Hauschild, J. -P. ^{[1
]}

Heppler, G. R. ^{[2
]}

机构：

[1] Tech Univ Hamburg, D-21073 Hamburg, Germany

[2] Univ Waterloo, Dept Syst Design Engn, Waterloo, ON N2L 3G1, Canada

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3451 / +

页数：2

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