Joint torque servo control of electro-hydrostatic actuators for high torque-to-weight ratio robot control.
Woongyong LeeMinjun KimWan Kyun ChungPublished in: IROS (2016)
Keyphrases
- robot control
- pid controller
- control system
- position control
- control scheme
- control algorithm
- induction motor
- motion control
- control method
- control strategy
- mobile robot
- degrees of freedom
- control loop
- autonomous robots
- closed loop
- external forces
- visual servoing
- unstructured environments
- contact force
- dynamic model
- fuzzy control
- fuzzy logic controller
- subsumption architecture
- fuzzy controller
- robotic manipulator
- adaptive control
- reinforcement learning
- end effector
- dc motor
- mathematical model
- real time
- master slave
- robot manipulators
- motor control
- rbf neural network
- active control