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

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

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