Closed-loop compensation of kinematic error in harmonic drives for precision control applications

IEEE Transactions on Control Systems Technology

Volumn 10, Issue 6, 2002, Pages 759-768

  Gandhi, Prasanna S ^a   Ghorbel, Fathi H ^b  

^a INDIAN INSTITUTE OF TECHNOLOGY BOMBAY   (India)

^b Rice University   (United States)

Author keywords

Harmonic drives; Kinematic error; Lyapunov stability; Regulation; Tracking

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; HARMONIC ANALYSIS; KINEMATICS; LYAPUNOV METHODS; MECHANICAL DRIVES; NONLINEAR CONTROL SYSTEMS; SYSTEM STABILITY; TRAJECTORIES; VIBRATIONS (MECHANICAL);

PRECISION CONTROL;

CLOSED LOOP CONTROL SYSTEMS;

EID: 0036857016     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2002.804119     Document Type: Article

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