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Torque Control Using a Harmonic Drive

A nonlinear dynamic model was derived for the torque generated by a harmonic drive. Measurements were taken in two cases: locked-load, to approximate low-speed operation, and free-load. Frequency response measurements, with variable amplitudes, were taken as a means of approximating the uncertainty model, and H-infinity controllers were subsequently designed. These proved to be reliable and performed well. The models were also used to ``clean up'' torque signals corrupted with periodic noise signals related in frequency to some of the gear-related signals.

H. Dokht-Taghirad, P.R. Bélanger
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000