Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications.
Soo-Cheol ShinChi-Hwan ChoiJang-Hyoun YoumTaeck-Kie LeeChung-Yuen WonPublished in: IECON (2012)
Keyphrases
- position control
- force control
- robotic manipulator
- control scheme
- closed loop
- control system
- robot arm
- control strategies
- end effector
- robot manipulators
- dc motor
- pid controller
- feedback loop
- control strategy
- control architecture
- sliding mode
- degrees of freedom
- robotic systems
- neural network
- dynamic model
- visual servoing
- tactile sensing
- control law
- induction motor
- motion planning
- control method
- humanoid robot
- multi robot
- vision system
- genetic algorithm