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Stability of impedance control of a series elastic actuator with a torque controlled actuator for improving the system performance.
Keisuke Yasuda
Ryojun Ikeura
Soichiro Hayakawa
Hideki Sawai
Published in:
ROBIO (2015)
Keyphrases
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position control
impedance control
control scheme
control system
closed loop
force control
robotic manipulator
dc motor
control strategies
pid controller
robot arm
feedback loop
neural network
control method
degrees of freedom
induction motor
end effector
fuzzy control
control algorithm
learning algorithm