Position Control of Hydraulic Series Elastic Actuator with Parameter Self-Optimization.
Haorang ZhongXinyu LiLiang GaoHaozhen DongPublished in: ICARM (2019)
Keyphrases
- position control
- control system
- closed loop
- control scheme
- force control
- robotic manipulator
- pid controller
- dc motor
- control strategies
- robot arm
- control method
- global optimization
- optimization algorithm
- control strategy
- feedback loop
- working principle
- control law
- control architecture
- neural network
- vision system
- parameter tuning
- simulation model
- end effector
- degrees of freedom
- fuzzy logic
- experimental data
- mobile robot