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A torque sensing technique for robots with harmonic drives
IEEE Transactions on Robotics and Automation, 1993The authors propose a joint torque sensing technique making use of the existing structural elasticity of robots. The technique provides joint torque sensing without reducing the stiffness of the robot or changing the mechanical structure of the joints. The elasticity of the flexsplines of the harmonic drives is utilized to measure the joint torque. The
Minoru Hashimoto +2 more
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Modeling, identification, and compensation of friction in harmonic drives
Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2003Harmonic drives are increasingly used in precision positioning applications such as military radars, wafer handling machines, and satellite cameras. Precision tracking performance of these drives is deteriorated by nonlinear transmission attributes including kinematic error, flexibility, hysteresis and friction.
GANDHI, PS, GHORBEL, FH, DABNEY, J
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Simulation of harmonic drive in precision robotic system
2010 Sixth International Conference on Natural Computation, 2010A simulation model of precise harmonic drives transmission system including the effects of friction and transmission flexibility is developed in this paper. The friction in both motor and load side are analysed, nonlinear friction which include static, Coulomb and viscous friction are described as a function of position and velocity, the periodical ...
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Harmonizing clinical terminologies: driving interoperability in healthcare.
Studies in health technology and informatics, 2007Internationally, there are countless initiatives to build National Healthcare Information Networks (NHIN) that electronically interconnect healthcare organizations by enhancing and integrating current information technology (IT) capabilities. The realization of such NHINs will enable the simple and immediate exchange of appropriate and vital clinical ...
Russell A. Hamm +4 more
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Instrumented harmonic drives for robotic compliant maneuvers
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002The dynamic behaviour of a harmonic drive, in particular the non-backdrivability, is developed in terms of a sensitivity transfer function (or 1/impedance). The instrumentation of the harmonic drive with torque sensor is described. This leads to a description of the control algorithm which allows modulation of the sensitivity transfer function within ...
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The Cloud Drives Harmonization and Standardization
2016IT islands—they rise up from the flood of data in every corporation and every medium-sized company. As sunny as they may sound, they cast a long shadow over a company’s flexibility. In this dynamic age of digital transformation, effective administration is wrecked on the shores of these islands. In reality there are often local databases, each of which
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Constructing Condition Monitoring Model of Harmonic Drive
Applied Sciences (Switzerland), 2022Jong Yih Kuo Kuo, Chaoyang Hsu
exaly