On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback.
Mehdi BenallegueRafael CisnerosAbdelaziz BenallegueArnaud TanguyAdrien EscandeMitsuharu MorisawaFumio KanehiroPublished in: IROS (2021)
Keyphrases
- induction motor
- feedback loop
- joint space
- position control
- external forces
- control strategy
- control algorithm
- control system
- robotic manipulator
- robotic systems
- control scheme
- robot control
- control method
- human operators
- autonomous systems
- industrial robots
- cooperative
- autonomous robots
- control strategies
- degrees of freedom
- eddy current
- dynamic model
- mathematical model
- robot behavior
- relevance feedback
- mobile robot
- human robot interaction
- humanoid robot
- multi objective optimization
- motion control
- force control
- normal operation
- real time