Stall torque

A Review of the State of the Art of Torque Ripple Minimization Techniques for Permanent Magnet Synchronous Motors

Muhammad Saad Rafaq, Will Midgley, Thomas Steffen

Citations: 107 • 2023

Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements

Hongwei Zhang, Saleh Ahmad, Guangjun Liu

Citations: 107 • 2015

Autocompensation of torque ripple of direct drive motor by torque observer

Nobuyuki Matsui, Tatsuo Makino, Hiroaki Satoh

Citations: 100 • 1993

Low-torque-ripple switched reluctance motors for direct-drive robotics

R.S. Wallace, David G. Taylor

Citations: 89 • 1991

A New Actuator System Using Dual-Motors and a Planetary Gear

Hoyul Lee, Youngjin Choi

Citations: 77 • 2011

Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control

Yoshihiro Kuroki, Kosaka Yusuke, Taro Takahashi, Eiji Niwa, Hiroshi Kaminaga, Yoshihiko Nakamura

Citations: 54 • 2013

Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems

Hamid D. Taghirad, Pierre Bélanger

Citations: 51 • 1998

Joint Torque Sensor Embedded in Harmonic Drive Using Order Tracking Method for Robotic Application

Byung-Jin Jung, Byung Chul Kim, Ja Choon Koo, Hyouk Ryeol Choi, Hyungpil Moon

Citations: 49 • 2017

Compact and lightweight optical torque sensor for robots with increased range

Sarmad Shams, Ji Yeong Lee, Chang-Soo Han

Citations: 44 • 2011

Intelligent built-in torque sensor for harmonic drive systems

Hamid D. Taghirad, Pierre Bélanger

Citations: 43 • 1999

Dual Speed Control Scheme of Servo Drive System for a Nonlinear Friction Compensation

Dong-Hee Lee, Jin‐Woo Ahn

Citations: 41 • 2008

Snake-like active wheel robot ACM-R4.1 with joint torque sensor and limiter

Shunichi Takaoka, Hiroya Yamada, Shigeo Hirose

Citations: 40 • 2011

Torque maximization for permanent magnet synchronous motors

Alexander Verl, Marc Bodson

Citations: 40 • 1998

Torque Sensor Embedded Actuator Module for Robotic Applications

Yong Bum Kim, Uikyum Kim, Dong-Yeop Seok, Jinho So, Yoon Haeng Lee, Hyouk Ryeol Choi

Citations: 35 • 2018

Design of Parallel Variable Stiffness Actuators

Chase W. Mathews, David J. Braun

Citations: 31 • 2022

Hysteresis Torque Estimation Method Based on Iron-Loss Analysis for Permanent Magnet Synchronous Motor

Sung-Woo Hwang, Myung‐Seop Lim, Jung-Pyo Hong

Citations: 30 • 2016

Anticogging: Torque ripple suppression, modeling, and parameter selection

Matthew Piccoli, Mark Yim

Citations: 29 • 2015

Control of switched reluctance motor torque for force control applications

A.A. Goldenberg, I. Laniado, P. Kuzan, Chao Zhou

Citations: 28 • 1994

Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid

Yuya Nagamatsu, Takuma Shirai, Hiroto Suzuki, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

Citations: 28 • 2017

Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller

Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen

Citations: 27 • 2020