The Effect of Transmission Design on Force-Controlled Manipulator Performance
Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple,...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6835 |