Single motor-variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control.
Stefan S. GroothuisRaffaella CarloniStefano StramigioliPublished in: AIM (2016)
Keyphrases
- position control
- end effector
- control system
- control strategies
- robotic manipulator
- control scheme
- impedance control
- force control
- closed loop
- control signals
- degrees of freedom
- robot arm
- dc motor
- motion control
- feedback loop
- inverse kinematics
- robot manipulators
- control strategy
- visual servoing
- control loop
- control algorithm
- motion planning
- vision system
- speed control
- optical flow
- control method
- motion analysis
- moving objects
- robotic arm
- computer vision
- motion capture
- motion model
- experimental data
- camera motion
- motion estimation
- mobile robot
- induction motor
- operating conditions
- control law
- force feedback
- fuzzy control
- motion field
- real time