Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator.
Jesus Hiram LugoAlessio CaligiuriMatteo ZoppiGiorgio CannataRezia MolfinoPublished in: IRC (2019)
Keyphrases
- position control
- robotic manipulator
- force control
- control scheme
- control system
- control strategies
- impedance control
- closed loop
- dc motor
- end effector
- feedback loop
- degrees of freedom
- robot arm
- control strategy
- robot manipulators
- robotic systems
- pid controller
- control architecture
- multimedia
- control law
- dynamic model
- neural network
- optimal control
- vision system