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

Author(s)
Thompson, Bruce R.
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Abstract
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.
Date issued
1990-05-01
URI
http://hdl.handle.net/1721.1/7036
Other identifiers
AITR-1247
Series/Report no.
AITR-1247

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  • AI Technical Reports (1964 - 2004)

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