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Torque Control Using a Harmonic Drive

H. Dokht-Taghirad, P.R. Bélanger, A. Helmy Both locked-load and free-load control are considered. A nonlinear model was derived, mainly for friction and compliance. H-infinity controllers are being designed for both cases, with identification of torques due to meshing and to misalignment.

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997