Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control.
Kevin HaningerAbner AsignacionSehoon OhPublished in: CoRR (2019)
Keyphrases
- position control
- control system
- robotic manipulator
- force control
- control scheme
- closed loop
- control method
- control strategies
- control strategy
- real time
- induction motor
- control algorithm
- external forces
- control theory
- dc motor
- end effector
- high quality
- dynamic model
- control architecture
- degrees of freedom
- feedback loop
- d scene
- robot manipulators
- fault tolerant control
- robot arm
- intelligent control
- small size
- adaptive control
- computer graphics