Abstract
This paper considers maximizing the utilization of actuator and Harmonic Drive (HD) of a single-joint indirect-drive unit. To achieve this, a Linear Conditioning (LC) structure is added on an existing controller. LC, which considers the control of linear systems with bounded input, is used here to address both actuator saturation and maximum allowable HD torque limits. For poorly damped systems, vibration damping is added to reduce the constraint caused by the maximum allowable HD torque. In this case, additional adjustment to the saturation limit of the LC is made.
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