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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/7036| Title: | The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control |
| Issue Date: | 9-Oct-2013 |
| 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. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AITR-1247 http://hdl.handle.net/1721.1/7036 |
| Appears in Collections: | MIT Items |
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