@article { author = {Moghaddam, M.M.}, title = {An Actuator-Level Robust Joint Torque Control of Robot with Harmonic Drive Transmission}, journal = {Scientia Iranica}, volume = {10}, number = {2}, pages = {-}, year = {2003}, publisher = {Sharif University of Technology}, issn = {1026-3098}, eissn = {2345-3605}, doi = {}, abstract = {}, keywords = {}, url = {https://scientiairanica.sharif.edu/article_2653.html}, eprint = {https://scientiairanica.sharif.edu/article_2653_edf0ad23f5e44a7d2256c94c881cabd8.pdf} }