Adaptive control of harmonic drives based on virtual decomposition

IEEE/ASME Transactions on Mechatronics

Volumn 11, Issue 5, 2006, Pages 604-614

  Zhu, Wen Hong ^a   Dupuis, Erick ^a   Doyon, Michel ^a   Piedboeuf, Jean Claude ^a,b,c  

^a CANADIAN SPACE AGENCY   (Canada)

^b UNIVERSITY OF WATERLOO   (Canada)

^c ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

Adaptive control; Harmonic drives; Motion control; Precision control systems; Torque control; Virtual decomposition control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; DYNAMICS; FREQUENCY DOMAIN ANALYSIS; MOTION CONTROL; ROBOTICS; TORQUE CONTROL;

HARMONIC DRIVES; PRECISION CONTROL SYSTEMS; VIRTUAL DECOMPOSITION; VIRTUAL DECOMPOSITION CONTROL;

ROBOTS;

EID: 33750384651     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2006.882992     Document Type: Article

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