2 papers
cs.RO2025
Frequency Response Data-Driven Disturbance Observer Design for Flexible Joint Robots
Deokjin Lee, Junho Song, Alireza Karimi +1
Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can…
cs.RO2023
Data-Driven Modeling and Analysis of Transmission Error in Harmonic Drive Systems: Nonlinear Dynamics, Error Modeling, and Compensation Techniques
Ju Wu
Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their p…