The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control

Title: en_US The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control
Creator: en_US Thompson, Bruce R.
Date: 2004-10-20T20:23:08Z
Date Available: 2004-10-20T20:23:08Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1247
uri: http://hdl.handle.net/1721.1/7036
Abstract: en_US This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: first, to perform research on joint torque control schemes, and second, to determine the important dynamic characteristics of the Harmonic Drive. The PHD, is a planar, three degree of freedom arm with torque sensors integral to each joint. Preliminary testing has shown that a simple linear spring model of the Harmonic Drive's flexibility is suitable in many situations.
Extent: 8005430 bytes; 5593253 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1247