Intelligent built-in torque sensor for harmonic drive systems

IEEE Transactions on Instrumentation and Measurement

Volumn 48, Issue 6, 1999, Pages 1201-1207

  Taghirad, Hamid D ^a  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; BOLOMETERS; GEAR TEETH; KALMAN FILTERING; MATHEMATICAL MODELS; OSCILLATIONS; OSCILLATORS (MECHANICAL); STRAIN GAGES; TORQUE MEASUREMENT; TRANSMISSIONS;

FOURTH ORDER HARMONIC OSCILLATOR; HARMONIC DRIVE SYSTEMS; INTELLIGENT SENSOR; MISALIGNMENT TORQUE; TORQUE SENSOR;

TORQUE METERS;

EID: 0033345383     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/19.816137     Document Type: Article

References (17)

1. I. Godler, K. Ohnishi, and T. Yamashita, "Repetitive control to reduce speed ripple caused by strain wave gearing, " in Proc. IECON, 1994, vol. 2, pp. 1034-1038.
2. M. Hashimoto, "Robot motion control based on joint torque sensing, " in Proc. IEEE Int. Conf. Robotics Automation. 1989, pp. 256-261.
3. M. Hashimoto, Y. Kiyosawa, H. Hirabayashi, and R.P. Paul, "A joint torque sensing technique for robots with harmonic drives, " in Proc. IEEE Int. Conf. Robotics Automation. Apr. 1991, vol. 2, pp. 1034-1039.
4. M. Hashimoto, Y. Kiyosawa, and R.P. Paul, "A torque sensing technique for robots with harmonic drives, " IEEE Trans. Robot. Automat., vol. 9, pp. 108-116, Feb. 1993.
5. R. Hui, N. Kircanski, A. Goldenberg, C. Zhou, P. Kuzan, J. Weircienski, D. Gershon, and P. Sinha, "Design of the iris facility-A modular, reconfigurable and expandable robot test bed, " in Proc. IEEE Int. Conf. Robotics Automation, 1993, vol. 1, pp. 155-160.
6. S. Nicosia and P. Tomei, "On the feedback linearization of robots with elastic joints, " in P roc. IEEE Conf. Decision Control, 1988, vol. 1, pp. 180-185.
7. K. Ogata, Discrete-Time Control Systems. Englewood Cliffs, NJ: Prentice-Hall, 1995.
8. M.W. Spong, "Adaptive control of flexible joint manipulators, " Syst. Contr. Lett., vol. 13, pp. 15-21, July 1989.
9. M.W. Spong, J. Y. Hung, S. Bortoff, and F. Ghorbel, "Comparison of feedback linearization and singular perturbation techniques for the control of flexible joint robots, " in Proc. American Control Conf., 1989, vol. 1, pp. 25-30.
10. D. Stokic and M. Vukobratovic, "Historical perspectives and state of the art in joint force sensory feedback control of manipulation robots, " Robotica, vol. 11, pp. 149-157, Mar.-Apr. 1993.
11. H.D. Taghirad, "Application of Kaiman filter for intelligent built-in torque sensor of harmonic drives, " Tech. Rep. TR-CIM-97-06, Center for Intelligent Machines, McGill Univ., Montreal, P.Q., Canada, Apr. 1997.
12. H.D. Taghirad and P. R. Belanger, "Intelligent torque sensing and robust torque control of harmonic drive under free-motion, " in Proc. IEEE Int. Conf. Robotics Automation, Apr. 1997, vol. 2, pp. 1749-1754.
13. H.D. Taghirad and P. R. Belanger, "Robust torque control of harmonic drive under constrained motion, " in Proc. IEEE Int. Conf. Robotics Automation, Apr. 1997, vol. 1, pp. 248-253.
14. H.D. Taghirad and P. R. Belanger, "H-∞ based robust torque control of harmonic drive system under constrained- and free-motion applications, " in Proc. IEEE Int. Conf. Control Applications, Sept. 1998, vol. 2, pp. 990-994.
15. H.D. Taghirad and P. R. Belanger, "Modeling and parameter identification of harmonic drive systems, " J. Dyn. Syst., Meas., Contr., vol. 120, pp. 43944, Dec. 1998.
16. H.D. Taghirad, P. R. Belanger, and A. Helmy, "An experimental study on harmonic drive, " Tech. Rep., Int, Submarine Eng, Ltd., Port Coquitlam, B.C., Canada, 1996.
17. "Intelligent built-in torque sensor for harmonic drive system, " in Proc. 1997 IEEE Instrumentation Measurement Technol. Conf., May 1997, vol. 1, pp. 969-974.