A variable stiffness joint using leaf springs for robot manipulators.
Junho ChoiSeonghun HongWoosub LeeSungchul KangPublished in: ICRA (2009)
Keyphrases
- robot manipulators
- position control
- force control
- control scheme
- control of robot manipulators
- inverse kinematics
- end effector
- trajectory planning
- dynamic model
- pid controller
- control system
- closed loop
- expert systems
- sliding mode
- real time
- fuzzy rules
- optimization algorithm
- joint angles
- variable structure
- knowledge base