NASA NTRS · 19920046449
Impedance control of robots with harmonic drive systems
Abstract
The design of an impedance controller based on actuator-level feedback is considered. It is shown that actuator effort (e.g. torque) feedback alone is insufficient to achieve satisfactory contact performance. Instead, combined feedback of actuator effort and motion is sufficient to achieve feedback contact performance.
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Hogan, Neville, Rasolee, B. A., Andary, James. 1991-01-01. Impedance control of robots with harmonic drive systems. https://ntrs.nasa.gov/citations/19920046449
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