Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot

Publisher： Cambridge University Press

E-ISSN： 1469-8668|10|4|369-375

ISSN： 0263-5747

Source： Robotica, Vol.10, Iss.4, 1992-07, pp. : 369-375

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