2015-05-042015-05-042002-10-01Ghorbel, Fathi Hassan and Ghandi, Prasanna S., "Closed-loop compensation for kinematic error in harmonic driver for precision control applications." Patent US6459940B1. issued 2002-10-01. Retrieved from https://hdl.handle.net/1911/79852.https://hdl.handle.net/1911/79852Nonlinear control algorithms to compensate for kinematic error in harmonic drives provide a solid basis to improve their performance of harmonic drives in precision positioning applications. The present closed loop control algorithms compensate for kinematic error irrespective of its form in both set-point and trajectory tracking applications.14 ppengUtility patentUS6459940B1