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

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/7036

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DC Field	Value	Language
dc.creator	Thompson, Bruce R.	-
dc.date	2004-10-20T20:23:08Z	-
dc.date	2004-10-20T20:23:08Z	-
dc.date	1990-05-01	-
dc.date.accessioned	2013-10-09T02:48:04Z	-
dc.date.available	2013-10-09T02:48:04Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AITR-1247	-
dc.identifier	http://hdl.handle.net/1721.1/7036	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	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.	-
dc.format	8005430 bytes	-
dc.format	5593253 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AITR-1247	-
dc.title	The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control	-
Appears in Collections:	MIT Items

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