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Torque Control of a Harmonic Drive

Authors: [tex2html_wrap4340]H. Dokht-Taghirad, P. Dobrovolny, P.R. Bélanger

Investigator username: belanger

Category: robotics

Subcategory: identification and control

This project is intended to explore the performance limits to torque control. The factors affecting performance are: torque limit, friction, nonlinearity of compliance, compliance dynamics, sensor accuracy, modeling errors. As a first step, a fairly comprehensive model of the harmonic drive is being derived. Experiments will be devised to identify certain model parameters. Using simulation, the effect of the various factors on frequency response will be studied, in order to establish what is to be modeled for control with a given bandwidth. Experimental trials will follow.