Performance of gain-tuned Harmonic Drive torque sensor under load and speed conditions

IEEE/ASME Transactions on Mechatronics

Volumn 6, Issue 2, 2001, Pages 155-160

  Godler, Ivan ^a   Hashimoto, Minoru ^b   Horiuchi, Masashi ^c   Ninomiya, Tamotsu ^d  

^a UNIVERSITY OF KITAKYUSHU   (Japan)

^b SHINSHU UNIVERSITY   (Japan)

^c Harmonic Drive Systems Inc ^*  (Japan)

^d KYUSHU UNIVERSITY   (Japan)

Author keywords

Harmonic Drive; Ripple compensation; Sensor integration; Torque sensing

Indexed keywords

GAIN CONTROL; HEURISTIC METHODS; MATHEMATICAL MODELS; MECHATRONICS; SPEED CONTROL; STRAIN GAGES; TORQUE CONTROL;

HARMONIC DRIVE;

SENSORS;

EID: 0035363254     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/3516.928730     Document Type: Article

References (8)

1. Robot motion control based on joint torque sensing
2. Torque control of Harmonic Drive gears with built-in sensing
3. Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems
4. Intelligent built-in torque sensor for harmonic drive systems
5. Torque sensing from Harmonic Drives by using three strain gauges
6. A torque sensing technique for robots with Harmonic Drives
7. Accuracy improvement of built-in torque sensing for Harmonic Drives
8. Velocity dependence of the characteristics of Harmonic Drive built-in torque sensing