Control of Differential Mode Harmonic Drive Systems

  • László Lemmer
  • Bálint Kiss

This paper reports the modeling and control of harmonic drives in differential gearing configuration where none of its shafts is fixed. This configuration makes it possible to solve a control problem where one applies two actuators in order to carry out simultaneous position and torque control on two different axes.

Keywords

Torque Assure 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • László Lemmer
  • Bálint Kiss

There are no affiliations available

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