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Link position control of a compliant actuator with unknown transmission friction torque.
Lisha Chen
Matteo Laffranchi
Jinoh Lee
Navvab Kashiri
Nikos G. Tsagarakis
Darwin G. Caldwell
Published in:
IROS (2013)
Keyphrases
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position control
control scheme
closed loop
force control
robotic manipulator
control system
robot arm
control strategies
dc motor
feedback loop
degrees of freedom
control strategy
end effector
dynamic model
induction motor
robot manipulators
control architecture
control law
robotic systems
multi objective