Embedded Joint Torque Sensor with Reduced Torque Ripple of Harmonic Drive.
In-Moon KimHwi-Su KimJae-Bok SongPublished in: IAS (2) (2012)
Keyphrases
- contact force
- control algorithm
- eddy current
- dynamic model
- induction motor
- external forces
- control scheme
- feedback loop
- brushless dc
- embedded systems
- micro controller
- position control
- control system
- sensor data
- direct drive
- finite element analysis
- joint space
- force control
- data sets
- multi sensor
- data acquisition
- image processing