Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF.
Takaya ShinTakumi IbayashiKiminao KogisoPublished in: CoRR (2020)
Keyphrases
- dynamic model
- unscented kalman filter
- control scheme
- robot manipulators
- trajectory tracking
- controller design
- experimental data
- end effector
- parallel manipulator
- reduced order model
- predictive control
- control method
- optimal control
- control strategy
- particle filter
- control system
- sliding surface
- real time
- multiple models
- induction motor