Optimization of Stiffness to Achieve Increased Bandwidth and Torque Resolution in Nonlinear Stiffness Actuators.
Yaru ZhaoZhibin SongTianyu MaJian S. DaiPublished in: IEEE Trans. Ind. Electron. (2020)
Keyphrases
- contact force
- feedback loop
- position control
- finite element model
- control system
- constrained optimization
- optimization problems
- finite element analysis
- nonlinear optimization
- optimization method
- force control
- high resolution
- global optimization
- finite element
- low resolution
- sequential quadratic programming
- genetic algorithm
- high bandwidth
- control scheme
- mathematical model
- control algorithm
- control strategy
- combinatorial optimization
- optimization algorithm
- multi objective
- real time
- impedance control