This project is intended to explore the performance limits to torque control with a harmonic drive. 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 were being devised to identify certain model parameters. Using simulation, the effect of the various factors on frequency response is being studied, in order to establish what is to be modeled for control with a given bandwidth. Experimental trials will follow.
H. Dokht-Taghirad, A. Helmy, P.R. Bélanger