Harmonic drive

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

M C Good, L. M. Sweet, Kevin L. Strobel

Citations: 317 • 1985

On the Kinematic Error in Harmonic Drive Gears

Fathi H. Ghorbel, Prasanna Gandhi, Friedhelm Alpeter

Citations: 149 • 1998

An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot Joints with Harmonic Drives and Torque Sensors

N. Kirćanski, A.A. Goldenberg

Citations: 144 • 1997

Modeling and Control of the Mitsubishi PA-10 Robot Arm Harmonic Drive System

Christopher Kennedy, Jay Desai

Citations: 111 • 2005

A torque sensing technique for robots with harmonic drives

Masaru Hashimoto, Yoshihide Kiyosawa, Richard P. Paul

Citations: 111 • 1993

Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements

Hongwei Zhang, Saleh Ahmad, Guangjun Liu

Citations: 107 • 2015

Theoretical modelling and experimental identification of nonlinear torsional behaviour in harmonic drives

Tegoeh Tjahjowidodo, Farid Al‐Bender, H. Van Brussel

Citations: 102 • 2013

Sensorless Torsion Control of Elastic-Joint Robots With Hysteresis and Friction

Michael Ruderman, Makoto Iwasaki

Citations: 95 • 2015

Cycloid vs. harmonic drives for use in high ratio, single stage robotic transmissions

Jonathon W. Sensinger, James H. Lipsey

Citations: 87 • 2012

Design of Smart Modular Variable Stiffness Actuators for Robotic-Assistive Devices

Victor Grosu, Carlos Rodriguez‐Guerrero, Svetlana Grosu, Bram Vanderborght, Dirk Lefeber

Citations: 83 • 2017

Nonlinear modeling and parameter identification of harmonic drive robotic transmissions

W. Seyfferth, A.J. Maghzal, Jorge Angeles

Citations: 78 • 2002

Modeling of Torsional Compliance and Hysteresis Behaviors in Harmonic Drives

Hongwei Zhang, Saleh Ahmad, Guangjun Liu

Citations: 77 • 2014

Microsurgical telerobot system

Dong-Soo Kwon, Ki Young Woo, Se Kyong Song, Wan Soo Kim, Hyung Suck Cho

Citations: 69 • 2002

Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters

Luc Le-Tien, Alin Albu‐Schäffer

Citations: 67 • 2017

A Robot Actuator Development With High Backdrivability

Tatsuzo Ishida, Atsuo Takanishi

Citations: 64 • 2006

Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor

Issam A. Smadi, Hiroko Omori, Yasutaka Fujimoto

Citations: 60 • 2011

Modeling, full identification and control of the mitsubishi PA-10 robot arm

Nikolaos A. Bompos, Panagiotis Artemiadis, Apollon S. Oikonomopoulos, Kostas J. Kyriakopoulos

Citations: 57 • 2007

Harmonic Noise-Tolerant ZNN for Dynamic Matrix Pseudoinversion and Its Application to Robot Manipulator

Bolin Liao, Yuyan Wang, Jianfeng Li, Dongsheng Guo, Yongjun He

Citations: 54 • 2022

Vibration suppression control of robot arms using a homogeneous-type electrorheological fluid

Guoguang Zhang, J. Furusho, Masamichi SAKAGUCHI

Citations: 53 • 2000

Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems

Hamid D. Taghirad, Pierre Bélanger

Citations: 51 • 1998