Sensorless Torque Control for a Robot with Harmonic Drive Reducers

REFERENCES

• De Luca , A. , Ferrajoli , L. ( 2008 ). Exploring robot redundancy in collision detection and reaction. IEEE International Conference on Intelligent Robots and Systems, France, 3299–3305 .
   Google Scholar
• De Luca , A. , Mattone , R. ( 2004 ). An adapt-and-detect actuator FDI scheme for robot manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, 4975–4980 .
   Google Scholar
• De Luca , A. , Mattone , R. ( 2005 ). Sensorless robot collision detection and hybrid force/motion control. Proceedings of the IEEE Conference on Robotics and Automation, Spain, 999–1004 .
   Google Scholar
• De Luca , A. , Albu-Shaffer , A. , Haddadin , S. , Hirzinger , G. ( 2006 ). Collision detection and safe reaction with the DLR-III lightweight manipulator arm. Proceedings of the International Conference on Intelligent Robots and Systems, China, 1623–1630 .
   Google Scholar
• Gandi , P. , Ghorbel , F. , Dabney , J. ( 2002 ). Modeling, identification and compensation of friction in harmonic drives. Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, USA, 160–166 .
   Google Scholar
• Haddadin , S. , Albu-Shaffer , A. , De Luca , A. , Hirzinger , G. ( 2008 ). Evaluation of collision detection and reaction for a Human-friendly robot on biological tissues. IARP International Workshop on Technical Challenges and for Dependable Robots in Human Environments, USA .
   Google Scholar
• Katsura , S. , Matsumoto , Y. , Ohnishi , K. ( 2006 ). Analysis and experimental validation of force bandwidth for force control . IEEE Trans. Ind. Electr. 53 ( 3 ): 922 – 927 .
   Web of Science ®Google Scholar
• Katsura , S. , Matsumoto , Y. , Ohnishi , K. ( 2007 ). Modeling of force sensing and validation of disturbance observer for force control . IEEE Trans. Ind. Electr. 54 ( 1 ): 530 – 537 .
   Web of Science ®Google Scholar
• Kiyosawa , Y. ( 1998 ). A Study on Reduction of Torsional Vibration of Strain Wave Gearing. PhD thesis, Japan: Tohoku University, 131 .
   Google Scholar
• Kosuge , K. , Matsumoto , T. ( 2001 ). Collision detection of manipulator based on adaptive control law. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 117–122 .
   Google Scholar
• Kuntze , H.-B. , Frey , W. , Giesen , K. , Milighetti , G. ( 2003 ). Fault tolerant supervisory control of human interactive robots. Proceedings of IFAG Work on Advanced Control and Diagnosis, Duisburg, 55–60 .
   Google Scholar
• Lampaert , V. , Swevers , J. , Al-Bender , F. (2002). Experimental comparison of different models for accurate low-velocity tracking. Proceedings of the 10th Mediterranean Conference on Control in Automation, Portugal.
   Google Scholar
• Takahira , S. , Murakami , T. , Ohnishi , K. ( 1989 ). An approach to collision detection and recovery motion in industrial robot. IEEE Industrial Electronics Society Annual Conference, Vol. 2, 421–426 .
   Google Scholar
• Tuttle , T. , Seering , W. ( 1996 ). A nonlinear model of Harmonic drive transmission . IEEE Trans. Robot. Automat. 12 ( 3 ): 368 – 374 .
   Google Scholar
• Vassileva , D. , Boiadjiev , G. ( 2009 ). A learning control algorithm with experiments on a chopsticks robot. 9th IFAC Symposium on Robot Control, Japan, 295–300 .
   Google Scholar