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Keywords: Harmonic DriveClose
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2001, 123(3): 338–345.
Published Online: November 9, 1998
...H. D. Taghirad; P. R. Be´langer In this paper, the torque control of a harmonic drive system for constrained-motion and free-motion applications is examined in detail. A nominal model for the system is obtained in each case from experimental frequency responses of the system, and the deviation...