Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison
  of Two Approaches   Flexible joint robots, in particularly those which are equipped with
harmonic-drive gears, can feature elasticities with hysteresis. Under heavy
loads and large joint torques the hysteresis lost motion can lead to
significant errors of tracking and positioning of the robotic links. In this
paper, two approaches for compensating the nonlinear joint torsion with
hysteresis are described and compared with each other. Both methods assume the
measured signals available only on the motor side of joint transmissions. The
first approach assumes a rigid-link manipulator model and transforms the
desired link trajectory into that of the motor drives by using the inverse
dynamics and inverse hysteresis map. The second approach relies on the modeling
of motor drives and inverse hysteresis and uses the generalized momenta when
predicting the joint torsion. Both methods are discussed in details along with
a numerical example of two-link planar manipulator under gravity.

17
The categories of this paper are: q-fin
29
The categories of this paper are: funct-an
30
The categories of this paper are: q-alg
21
The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
36
The categories of this paper are: cmp-lg
18
The categories of this paper are: econ
27
The categories of this paper are: comp-gas
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
15
The categories of this paper are: nucl-ex