Offset-free motor position control of an elastic drive system through reference position correction.
Charlotte TkanyMartin GrotjahnTorben JonskyPublished in: CoDIT (2023)
Keyphrases
- position control
- control scheme
- robotic manipulator
- force control
- closed loop
- control system
- control strategies
- robot arm
- feedback loop
- degrees of freedom
- dc motor
- end effector
- pid controller
- control strategy
- control architecture
- robot manipulators
- robotic systems
- control law
- permanent magnet synchronous
- computer vision
- vision system