Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller.
Barkan UgurluPaolo ForniCorinne DoppmannJun MorimotoPublished in: IROS (2015)
Keyphrases
- position control
- feedback controller
- control system
- control scheme
- closed loop
- force control
- contact force
- control law
- impedance control
- control strategy
- robot manipulators
- robotic manipulator
- open loop
- degrees of freedom
- controller design
- feedback control
- mathematical model
- pid control
- control strategies
- induction motor
- control algorithm
- robot arm
- master slave
- intelligent control
- control method
- end effector
- control theory
- nonlinear systems
- fuzzy control
- dc motor
- fuzzy controller
- optimal control
- fuzzy logic
- real time
- shape memory alloy
- dynamic model
- pid controller
- genetic algorithm
- membership functions
- neural network