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An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot Joints with Harmonic Drives and Torque Sensors.

Nenad KircanskiAndrew A. Goldenberg
Published in: Int. J. Robotics Res. (1997)
Keyphrases
  • contact force
  • finite element analysis
  • force control
  • highly nonlinear
  • master slave
  • finite element model
  • finite element
  • legged robots
  • force feedback
  • position control
  • force sensing
  • mobile robot
  • real time
  • robot arm