{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:52:43Z","timestamp":1777715563742,"version":"3.51.4"},"reference-count":25,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[1998,12,1]],"date-time":"1998-12-01T00:00:00Z","timestamp":912470400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,12]]},"abstract":"<jats:p>We make several experimentally based observations that enhance the understanding of the dynamics of geared robot drives. We show that: (1) at low velocities, a gear transmission can behave as a nonminimum-phase system; (2) this nonminimum phase behavior is intimately related to the dynamics of friction at gear-tooth contact; and (3) by virtue of compliance in bearings and supports, gear drives do not have a constant transmission ratio over all frequencies, but in stead show step changes in transmission ratio. These findings guide the development of a new dynamic model of a gear transmission that captures these salient characteristics and makes explicit the different torque-transmission modes. We remark on the implications of these findings for robot force control.<\/jats:p>","DOI":"10.1177\/027836499801701204","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"1310-1324","source":"Crossref","is-referenced-by-count":3,"title":["Frequency-Domain Consequences of Low-Velocity Friction: The Nonminimum-Phase Behavior of Geared Transmissions"],"prefix":"10.1177","volume":"17","author":[{"given":"J.","family":"Ontanon-Ruiz","sequence":"first","affiliation":[{"name":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P.R.","family":"McAree","sequence":"additional","affiliation":[{"name":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.W.","family":"Daniel","sequence":"additional","affiliation":[{"name":"Robotics Research Group Department of Engineering Science University of Oxford Oxford, OX1 3PJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1998,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3972-8"},{"key":"atypb2","volume-title":"Random Data: Analysis and Measurement Procedures","author":"Bendat, J.S.","year":"1986"},{"key":"atypb3","volume-title":"Network Analysis and Feedback Amplifier Design","author":"Bode, H.W.","year":"1945"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620110602"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(93)90070-A"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087142"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(94)90209-7"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000301"},{"key":"atypb9","volume-title":"Modem Control Systems","author":"Dorf, R.C.","year":"1992","edition":"6"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/70.182675"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1299\/jsme1958.28.1512"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919441"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/0022-460X(91)90564-Z"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103215"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896426"},{"key":"atypb16","volume-title":"Nonminimum phase effects in geared robot transmissions and their resolution using a differential drive","author":"Onta\u00f1\u00f3n-Ruiz, J.","year":"1996"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199811)15:11<641::AID-ROB3>3.0.CO;2-T"},{"key":"atypb18","volume-title":"Digital Signal Processing","author":"Oppenheim, A.V.","year":"1975"},{"key":"atypb19","volume-title":"Feedback and Multivariable Systems","author":"Owens, D.H.","year":"1978"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-460X(88)80365-1"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1016\/0022-460X(91)90590-G"},{"key":"atypb22","volume-title":"Probability, Random Variables, and Stochastic Processes","author":"Papoulis, A.","year":"1991","edition":"3"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1109\/70.88056"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1115\/1.3153108"},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896125"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801701204","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801701204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:31Z","timestamp":1777457731000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499801701204"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998,12]]},"references-count":25,"journal-issue":{"issue":"12","published-print":{"date-parts":[[1998,12]]}},"alternative-id":["10.1177\/027836499801701204"],"URL":"https:\/\/doi.org\/10.1177\/027836499801701204","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998,12]]}}}