This thesis is devoted to Development of Harmonic Drive Joint Torque Sensor and Its Implementation.
It is proved that Robot Joint Torque Sensor is useful for control through experiment and simulation. but, research for Robot Joint Torque Sensor is not developed enough. One of those reasons is that Robot must have a additional flexibility to built Joint Torque Sensor. In other words, robot structure is redesigned to build Joint Torque Sensor.
But Harmonic Drive Joint Torque Sensor proposed by Minoru Hashimoto is built without a additional flexibility. So, Harmonic Drive Joint Torque Sensor for planar 2 degrees of freedom is developed and implemented on control in this research.
In this thesis, as implementation of Harmonic Drive Joint Torque Sensor, position control, parameter estimation and force control is performed, In position control, Harmonic Drive Joint Torque Sensor is used for better performance of position control, In force control, for control without tip force torque sensor.
In result Harmonic drive Joint Torque Sensor is useful for control, and its more research is need for better performance of Harmonic Drive Joint Torque Sensor.
