Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (DOB).
Minjun KimWan Kyun ChungPublished in: IROS (2014)
Keyphrases
- control system
- robotic systems
- mobile robot
- dynamic model
- joint space
- autonomous robots
- robot control
- control strategy
- cooperative
- industrial robots
- speed control
- induction motor
- highly nonlinear
- air fuel ratio
- control method
- humanoid robot
- multi robot
- legged robots
- mechanical systems
- control signals
- motor control
- unstructured environments
- motor learning
- position control
- robust stability