Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control.

Woosong Kang Chan Lee Sangjin Bae Sehoon Oh

Published in: AMC (2020)

Keyphrases

force control
closed loop
position control
robot manipulators
control strategy
robotic cell
control system
control law
impedance control
control scheme
objective function
control method
pid controller
control architecture
real time
fuzzy logic
artificial neural networks