Series damper actuator: a novel force/torque control actuator.
Chee-Meng ChewGeok-Soon HongWei ZhouPublished in: Humanoids (2004)
Keyphrases
- finite element
- position control
- robotic manipulator
- control system
- force control
- control scheme
- closed loop
- control strategies
- impedance control
- dc motor
- control method
- mr damper
- robot arm
- pid controller
- control strategy
- control algorithm
- highly nonlinear
- robot manipulators
- end effector
- feedback loop
- active control
- control architecture
- induction motor
- real time
- degrees of freedom
- visual servoing
- vision system
- fuzzy logic controller
- robotic systems
- external forces
- electro hydraulic
- contact force
- dynamic characteristics
- intelligent control
- control law
- data acquisition