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J-GLOBAL ID:200902298496046383   Reference number:04A0323022

Force Sensorless Compliance Control Using a Limitation Algorithm and Dither for Manipulators with Harmonic Drive Gears

ハーモニックドライブを有するマニピュレータに対する飽和特性とディザを用いた力センサレス・コンプライアンス制御
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Volume: 22  Issue:Page: 353-360  Publication year: Apr. 15, 2004 
JST Material Number: Y0482A  ISSN: 0289-1824  Document type: Article
Article type: 原著論文  Country of issue: Japan (JPN)  Language: JAPANESE (JA)
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Motion and control of robots 

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