Torque control of sinusoidal PMAC motors for direct-drive robots.
Dong SunJames K. MillsPublished in: CIRA (2001)
Keyphrases
- direct drive
- robotic manipulator
- cnc machine tools
- robotic systems
- visual servoing
- mobile robot
- control scheme
- robot control
- motion control
- induction motor
- control system
- path planning
- position control
- multi robot
- autonomous robots
- image space
- degrees of freedom
- control strategy
- inverse kinematics
- end effector
- human operators
- adaptive control
- legged robots
- control parameters
- optimal control
- control method