{"title":"谐波传动柔性关节机器人的实验研究","authors":"M. Bridges, D. Dawson, S. C. Martindale","doi":"10.1109/CCA.1993.348353","DOIUrl":null,"url":null,"abstract":"The control of robotic manipulators with joint flexibilities has become a much addressed problem as of late. The interest that has been stirred is mainly due to the wide use of harmonic drive gearing in robotic manipulators and the inherent joint compliance that they introduce. In this paper the authors present experimental results from a two degree of freedom robot with harmonic drive gearing. In addition, conclusions as to the major stumbling blocks preventing further advancement in this area are given.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"An experimental study of flexible joint robots with harmonic gearing\",\"authors\":\"M. Bridges, D. Dawson, S. C. Martindale\",\"doi\":\"10.1109/CCA.1993.348353\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The control of robotic manipulators with joint flexibilities has become a much addressed problem as of late. The interest that has been stirred is mainly due to the wide use of harmonic drive gearing in robotic manipulators and the inherent joint compliance that they introduce. In this paper the authors present experimental results from a two degree of freedom robot with harmonic drive gearing. In addition, conclusions as to the major stumbling blocks preventing further advancement in this area are given.<<ETX>>\",\"PeriodicalId\":276779,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Control and Applications\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Control and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1993.348353\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Control and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1993.348353","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An experimental study of flexible joint robots with harmonic gearing
The control of robotic manipulators with joint flexibilities has become a much addressed problem as of late. The interest that has been stirred is mainly due to the wide use of harmonic drive gearing in robotic manipulators and the inherent joint compliance that they introduce. In this paper the authors present experimental results from a two degree of freedom robot with harmonic drive gearing. In addition, conclusions as to the major stumbling blocks preventing further advancement in this area are given.<>
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