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Monday, May 4, 2020 | History

3 edition of DC motor-harmonic drive torque control with application to robot joints found in the catalog.

DC motor-harmonic drive torque control with application to robot joints

Adi Rabadi

DC motor-harmonic drive torque control with application to robot joints

by Adi Rabadi

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  • 30 Currently reading

Published by National Library of Canada in Ottawa .
Written in English


Edition Notes

Thesis (M.A.Sc.)--University of Toronto, 1993.

SeriesCanadian theses = Thèses canadiennes
The Physical Object
FormatMicroform
Pagination3 microfiches : negative.
ID Numbers
Open LibraryOL19832438M
ISBN 100315925388


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DC motor-harmonic drive torque control with application to robot joints by Adi Rabadi Download PDF EPUB FB2

Intelligent torque sensing and robust torque control of harmonic drive under free-motion robot or changing the mechanical structure of the joints. Thus, the torque sensing technique is. Servo motors receive a control signal that represents an output position and applies power to the DC motor until the shaft turns to the correct position, determined by.

In order to eliminate the influence of the joint torsional vibration on the system operation accuracy, the parameter identification and the elastic torsional vibration control of a flexible-joint robot are studied.

Firstly, the flexible-joint robot system is equivalent to a rotor dynamic system, in which the mass block and the torsion spring are used to simulate the system inertia link and Cited by: 2. Control. Feedforward torque control timed by foot switches Device.

Ankle, PAKO – Orthoprosthesis, Technical University Darmstadt, Lauflabor – Locomotion Lab, Germany – Picture: (j) Actuator.

SEA with variable stiffness, 1, W Thingap 2, brushless DC motor 80 V at 48 V Battery. External power supply SensorsCited by: Kollmorgen PMI Servo Disc DC Motor Type S9M4H S Used/Tested Working Kollmorgen Motion Technologies Group Servo Disc DC Motor Model S Type S9M4H/BRK/ENC DC Servo Motor With Brake And Encoder Peak Torque: Oz-In Rated Continuous Torque: 85 Oz-In Rated Speed: RPM Maximum Recommended Speed: RPM Rated Power Output: Features: Step Angle(degrees)2 Phase, Rated Voltage: 12V, Rated Current: A, Holding Torque: kg*cm, 5mm Diameter Drive Shaft, Winding resistance: Ω, Winding inductance: 48 mH, Max flux linkage: Vs, Maximum Detent Torque: N.M, Total inertia(kg.m.m) Kg.m.m, Total friction(kg.m/s) 4 Kg.m/s, Three stepper motors with.

For the small-scale robotic applications, we set the requirements on SEAs stiffness to be small (Cited by: Albert HUBO is the only humanoid robot that has an android head and is able to walk with. 3 Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST) Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Min-Su Kim, Baek-Kyu Cho and Jun-Ho Oh Korea Advanced Institute of Science and.

Full text of "Proceedings of the Workshop on Computational Aspects in the Control of Flexible Systems, part 2" See other formats.

The two volume set LNAI and constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA.

Intelligent mobility, agile manipulability, and increased autonomy are key technologies to guarantee for long-range and efficient surface exploration on Earth’s Moon and on planets.

In order to increase the scientific output of a rover mission it is very necessary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine.

Full text of "NASA Technical Reports Server (NTRS) Proceedings of the NASA Conference on Space Telerobotics, volume 3" See other formats. Torque balance equation An electromechanical system can simply be described with the aid of the following torque balance equation, d2 θ dθ + Kθ = ±Td ∓ Tsh +D () 2 dt dt where J is the moment of inertia of the system in kgm2 assumed as constant (dJ/dt = 0), D is the damping coefficient in Nm s/rad, K is the stiffness coefficient.

Abstract: direct torque control technique is one of the excellent methods that used for torque control of induction machines. Direct torque control with simple control schemes, in the case of steady state and transient condition has good torque control among all control methods.

The direct torque control scheme is determined by the lack of PI. Drive System The three main elements of the SCORBOT-ER IX drive system are shown in Figure DC electrical motor Harmonic Drive gear Timing belt and pulleys.

Figure shows the drive system for axes 1 through 4 of the SCORBOT ER-IX. The roll axis (axis 5) transmission does not contain the pulleys and timing belt; only a Harmonic Drive is used.5/5(1). Drive System The three main elements of the SCORBOT-ER IX drive system are shown in Figure DC electrical motor Harmonic Drive gear Timing belt and pulleys.

Figure shows the drive system for axes 1 through 4 of the SCORBOT ER-IX. The roll axis (axis 5) transmission does not contain the pulleys and timing belt; only a Harmonic Drive is used.

Table Motor Specifications Motor Axes 1, 2, 3 Motor Axes 4, 5 Peak Rated Torque Rated Torque 32 Maximum Operating Speed rpm rpm Weight k / lb k / lb Figure Motor on Axes 1, 2 and 3 Figure Motor on Axes 4 and 5 SCORBOT-ER 9Pro User Manual Harmonic Drive Gears The.

We present the development and evolution of the ARMAR humanoid robots, which have been developed to perform grasping and manipulation tasks in made-for-human environments, to learn actions and task.

BLDC motor harmonic drive four point gearbox (lightweight contact bearing version) cross roller bearing integrated control and power electronics (stack) integrated control and power electronics (a) 5 sensorised elastomer coupling integrated absolute angle encoder (b) Fig. (a) Section view of the elastic joint-drive used in the 18 leg joints.

PB - Institute of Electrical and Electronics Engineers (IEEE) TI - Modulation and capacitor voltage balancing control of multilevel NPC dual active bridge DC-DC Converters ER - TY - MGZN AU - Bregoli, F.

AU - De Medina, V. AU - Bateman, A. T2 - Journal of visualization Y1 - VL - 23 IS - 2 SP - EP - DO - /sz. The application of such a correlation to a concrete sprayed on-site using the same fiber has proven satisfactory, with a maximum difference between the experimental and the correlated measurement of %.

Then, the methodology presented in this paper can be applied to .3DevelopmentofBipedHumanoidRobotsattheHumanoidRobotResearchCenterKoreaAdvancedInstituteofScienceandTechnologyKAISTIll-WooParkJung-YupKimJunghoLeeMin-SuKimBaek.Typically, this group makes use of 3D inverted pendulum based on the assumption that the whole robot mass is concentrated to the J.

Li, W. Chen Department of Automation, Shanghai Jiao Tong University, China e-mail: {lijia sjtu, wdchen}@ B. Mahr, H. Sheng (eds.) Autonomous Systems – Self-Organization, Management, and Control, c.