Development of a high-performance direct-drive joint

Advanced Robotics

Volumn 16, Issue 3, 2002, Pages 233-250

  Aghili, Farhad ^a   Buehler, Martin ^a   Hollerbach, John M ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

Actuator; Direct drive motor; Mechatronics; Motion control; Robot joint

Indexed keywords

ACTUATORS; AUTOMATION; CONTROL SYSTEM SYNTHESIS; FEEDBACK; MECHATRONICS; MOTION CONTROL; SENSORS; SERVOMOTORS; TORQUE CONTROL; UNIVERSAL JOINTS;

DIRECT DRIVE MOTOR; HIGH PERFORMANCE DIRECT DRIVE JOINT;

ROBOTICS;

EID: 0036275314     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855302760121918     Document Type: Article

References (18)

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6. Pulsating torque minimizing techniques for permanent-magnet ac motor drives - a review
7. Motion control systems with h-infinity positive joint torque feedback
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9. Motion control of a robot arm using joint torque sensors
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11. Telerobotic development systems preliminary design review: Prototype 1 direct drive actuator research robot project (tds-4)
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14. Sensing the torque in a robot's joint
15. Right half plane poles and zeros, and design tradeoffs in feedback systems
16. Robot motion control based on joint torque sensing