Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios.
Kuei-You LinChia-Cheng ChungChao-Chieh LanPublished in: IEEE Access (2020)
Keyphrases
- position control
- force control
- robot manipulators
- closed loop
- control strategy
- joint space
- control scheme
- impedance control
- control algorithm
- robotic cell
- control system
- robotic manipulator
- control strategies
- robot arm
- control law
- contact force
- feedback loop
- degrees of freedom
- dynamic environments
- end effector
- dc motor
- control architecture
- pid controller
- control method