Impedance control of collaborative robots based on joint torque servo with active disturbance rejection.
Tianyu RenYunfei DongDan WuKen ChenPublished in: Ind. Robot (2019)
Keyphrases
- position control
- disturbance rejection
- pid controller
- impedance control
- control system
- closed loop
- control scheme
- robot control
- control loop
- fuzzy control
- control method
- particle swarm optimization
- manipulation tasks
- force control
- limit cycle
- rbf neural network
- mobile robot
- control law
- control algorithm
- robot manipulators
- control parameters
- control strategies
- real time
- bp neural network
- fuzzy logic controller
- pso algorithm
- autonomous robots
- robotic systems
- induction motor
- robotic manipulator
- multi robot
- manufacturing systems
- control strategy
- degrees of freedom