Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors.
József VeresGyörgy CsereyGábor SzederkényiPublished in: Robotica (2013)
Keyphrases
- position control
- bio inspired
- closed loop
- low cost
- control scheme
- open loop
- control system
- force control
- robotic manipulator
- swarm intelligence
- control law
- feedback control
- pid controller
- dc motor
- artificial neural networks
- parameter identification
- asymptotic stability
- control strategies
- machine learning
- robot arm
- induction motor
- feedback loop
- nonlinear systems
- control loop
- genetic algorithm
- flight test
- real time