Switching Position-Torque Control for Series Elastic Actuators with Disturbance Observer.

Minjae Jo Hyunwook Lee Sehoon Oh

Published in: IECON (2019)

Keyphrases

control system
control strategy
position control
induction motor
control algorithm
external forces
control scheme
degrees of freedom
active control
control method
control theory
end effector
control strategies
external disturbances
contact force
feedback loop
real time
dynamic model
mobile robot
genetic algorithm