Experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors

International Journal of Robotics Research

Volumn 16, Issue 2, 1997, Pages 214-239

  Kircanski, Nenad M ^a   Goldenberg, Andrew A ^a  

^a Engineering Services Inc   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

EQUATIONS OF MOTION; FORCE CONTROL; MATHEMATICAL MODELS; MECHANICAL DRIVES; PARAMETER ESTIMATION; STIFFNESS; TORQUE CONVERTERS;

HARMONIC DRIVE BASED ROBOT JOINTS;

ROBOTICS;

EID: 0031124334     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499701600207     Document Type: Article

References (27)