Power-optimized stiffness and nonlinear position control of an actuator with Variable Torsion Stiffness.
Philipp BeckerleJanis WojtuschJochen SchuyBruno StrahStephan RinderknechtOskar von StrykPublished in: AIM (2013)
Keyphrases
- position control
- control scheme
- robotic manipulator
- force control
- closed loop
- control system
- impedance control
- robot arm
- control strategies
- feedback loop
- dc motor
- pid controller
- degrees of freedom
- control architecture
- control strategy
- control law
- dynamic model
- real time
- control method
- control algorithm
- controller design
- robot manipulators
- steady state