Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation.
Mohamad MosadeghzadGustavo A. Medrano-CerdaNikos G. TsagarakisDarwin G. CaldwellPublished in: ROBIO (2013)
Keyphrases
- position control
- impedance control
- feedback loop
- force control
- control scheme
- closed loop
- robotic manipulator
- robot arm
- control strategies
- control system
- degrees of freedom
- dc motor
- pid controller
- mobile robot
- control law
- machine learning
- control architecture
- finite element model
- control strategy
- robot manipulators
- steady state
- vision system