Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements.
Hongwei ZhangSaleh AhmadGuangjun LiuPublished in: IEEE Trans. Robotics (2015)
Keyphrases
- position control
- robotic manipulator
- control scheme
- force control
- closed loop
- control system
- position estimation
- real time
- data transmission
- mobile robot
- parameter estimation
- surface temperature
- contact force
- robot arm
- human arm
- noisy measurements
- estimation process
- estimation accuracy
- accurate estimation
- position and orientation
- pid controller
- robotic systems
- measured data
- robot manipulators
- end effector
- dc motor
- estimation algorithm
- control algorithm
- control strategy