Sliding Mode-Based Design of Unified Force and Position Control for Series Elastic Actuator.

Minoru Yokoyama Tomoyuki Shimono Tarik Uzunovic Asif Sabanovic

Published in: ICM (2023)

Keyphrases

position control
control scheme
closed loop
robotic manipulator
force control
sliding mode
control system
dynamic model
control law
dc motor
robot manipulators
robot arm
control strategies
genetic algorithm
control strategy
artificial neural networks
learning algorithm