M. Hashimoto. Robot motion control based on joint torque sensing. In Proc. IEEE Int. Conf. Robotics and Automation, pages 256--1261, 1989. Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
Intelligent Built-in Torque Sensor for Harmonic Drive.. - Taghirad, Helmy.. (1997) (Correct)
....harmonic drive transmission, which has an elastic element, the flexspline, there is no advantage to add an additional compliant element and thereby reduce the joint stiffness. In this paper we are using the idea of a built in torque sensor for harmonic drives as first proposed by Hashimoto in 1989 [8]. This method proved to be an economical and effective way of torque sensing for harmonic drives in our setup, as claimed by Hashimoto et al. 9] In our testing station a Wheatstone bridge of four Rosette strain gauges is utilized to sense the torsional torque transmitted through the flexspline. ....
M. Hashimoto, "Robot motion control based on joint torque sensing", Proceeding of IEEE International Conference on Robotics and Automation, pp. 256--261, 1989.
Application of Kalman Filter for Intelligent Built-in Torque.. - Taghirad (1997) (Correct)
....harmonic drive transmission, which has an elastic element, the flexspline, there is no advantage to add an additional compliant element and thereby reduce the joint stiffness. In this paper we are using the idea of a built in torque sensor for harmonic drives as first proposed by Hashimoto in 1989 [2]. This method proved to be an economical and effective way of torque sensing for harmonic drives in our setup, as claimed by Hashimoto et al. 3] In our testing station a Wheatstone bridge of four Rosette strain gauges is utilized to sense the torsional torque transmitted through the flexspline. ....
M. Hashimoto. Robot motion control based on joint torque sensing. Proceeding of IEEE International Conference on Robotics and Automation, pages 256--261, 1989.
Robust Torque Control of Harmonic Drive Systems - Taghirad, Bélanger (1997) (Correct)
....for a harmonic drive transmission, which has an elastic element, the flexspline, there is no advantage to add an additional compliant element and reduce the joint stiffness. In this paper we are using the idea of a built in torque sensor for harmonic drives as first proposed by Hashimoto in 1989 [17]. This method proved to be an economical and effective way of torque sensing for harmonic drives in our testing station, confirming the claim of Hashimoto et al. 18] In our test bed a Wheatstone bridge of four Rosette strain gauges is utilized to sense the torsional torque transmitted through ....
M. Hashimoto, "Robot motion control based on joint torque sensing", Proceeding of IEEE International Conference on Robotics and Automation, pp. 256--261, 1989.
Dynamics and Control of Direct-Drive Robots with.. - Aghili, Buehler.. (1997) (Correct)
....the effectiveness of using joint torque measurements to compensate the nonlinear link dynamics of a SCARA type direct drive robot. However, he noticed a torque disturbance on the rotors caused by the movement of the proximal joints, which is not detectable by the torque sensors. Hashimoto [8] applied this technique to a harmonic drive actuator where the deformation of the flex spline is used to measure joint torque. He claimed that the dynamic coupling terms in the robot dynamics are small due to the high angular velocity of the rotors in comparison to that of the links, and ....
M. Hashimoto. Robot motion control based on joint torque sensing. In Proc. IEEE Int. Conf. Robotics and Automation, pages 256--1261, 1989.
Intelligent Built-in Torque Sensor for Harmonic Drive.. - Taghirad, Helmy.. (1997) (Correct)
....drive transmission, which has an elastic element, i.e. the flexspline, there is no advantage to add an additional compliant element and thereby reduce the joint stiffness. In this paper we are using the idea of a built in torque sensor for harmonic drives as first proposed by Hashimoto in 1989 [8]. This method proved to be an economical and effective way of torque sensing for harmonic drives in our setup, as claimed by Hashimoto et al. 9] In our testing station a Wheatstone bridge of four Rosette strain gauges is utilized to sense the torsional torque transmitted through the flexspline. ....
M. Hashimoto, "Robot motion control based on joint torque sensing", Proceeding of IEEE International Conference on Robotics and Automation, pp. 256--261, 1989.
review for publication in the IEEE Transactions on - Roboticsandcs On The (Correct)
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M. Hashimoto. Robot motion control based on joint torque sensing. In Proc. IEEE Int. Conf. Robotics and Automation, pages 256--1261, 1989.
Motion Control with H - Positive Joint Torque (Correct)
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M. Hashimoto, Robot motion control based on joint torque sensing, Proc. IEEE Int. Conf. Robotics and Automation, 1989, pp. 256--1261.
Development of a High Performance Direct-Drive Joint - Aghili Buehler Hollerbach (2000) (Correct)
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M. Hashimoto, Robot motion control based on joint torque sensing, Proc. IEEE Int. Conf. Robotics and Automation, 1989, pp. 256--1261.
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