IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear friction compensation in harmonic drives with hysteresis

Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Author(s): R. Dhaouadi
Sponsor(s): IEEE Ind. Electron. Soc.(IES)
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2003
Conference Location: Kobe, Japan, Japan
Conference Date: 20 July 2003
Volume: 1
Page Count: 6
ISBN (Paper): 0-7803-7759-1
DOI: 10.1109/AIM.2003.1225108
Regular:

In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive... View More

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