This paper reports the modeling and control of harmonic drives in differential gearing configuration where none of its shafts is fixed. This configuration makes it possible to solve a control problem where one applies two actuators in order to carry out simultaneous position and torque control on two different axes.
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Lemmer, L., Kiss, B. (2009). Control of Differential Mode Harmonic Drive Systems. In: Machado, J.A.T., Pátkai, B., Rudas, I.J. (eds) Intelligent Engineering Systems and Computational Cybernetics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8678-6_19
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DOI: https://doi.org/10.1007/978-1-4020-8678-6_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8677-9
Online ISBN: 978-1-4020-8678-6
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