A clutch mechanism for switching between position and stiffness control of a variable stiffness actuator.
Marco CempiniMatteo FumagalliNicola VitielloStefano StramigioliPublished in: ICRA (2015)
Keyphrases
- position control
- dc motor
- robotic manipulator
- control system
- control scheme
- force control
- impedance control
- closed loop
- control strategies
- feedback loop
- electro mechanical
- end effector
- control strategy
- pid controller
- robot arm
- real time
- control method
- degrees of freedom
- mobile robot
- computational model
- control architecture
- robot manipulators
- robotic systems
- operating conditions
- finite element analysis
- visual servoing
- fuzzy logic controller
- fine tuned
- controller design
- selection mechanism
- control law
- optimal control
- dynamic model
- data sets