The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control
| dc.date.accessioned | 2004-10-20T20:23:08Z | |
| dc.date.accessioned | 2018-11-24T10:22:48Z | |
| dc.date.available | 2004-10-20T20:23:08Z | |
| dc.date.available | 2018-11-24T10:22:48Z | |
| dc.date.issued | 1990-05-01 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/7036 | |
| dc.identifier.uri | http://repository.aust.edu.ng/xmlui/handle/1721.1/7036 | |
| dc.description.abstract | 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. | en_US |
| dc.format.extent | 8005430 bytes | |
| dc.format.extent | 5593253 bytes | |
| dc.language.iso | en_US | |
| dc.title | The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control | en_US |
Files in this item
| Files | Size | Format | View |
|---|---|---|---|
| AITR-1247.pdf | 5.593Mb | application/pdf | View/ |
| AITR-1247.ps | 8.005Mb | application/postscript | View/ |