Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors.
Andrea Del PreteNicolas MansardOscar E. RamosOlivier StasseFrancesco NoriPublished in: Int. J. Humanoid Robotics (2016)
Keyphrases
- induction motor
- control strategy
- position control
- external forces
- control scheme
- control algorithm
- control system
- feedback loop
- contact force
- joint space
- closed loop
- data acquisition
- wide range
- dynamic model
- real time
- robotic manipulator
- control method
- active contours
- neural network
- force control
- micro controller
- fuzzy controller
- robot motion
- sensor technology
- intelligent control
- control strategies
- monitoring system
- data sets