Comparison of passivity based impedance controllers without torque-feedback for Variable Stiffness Actuators.
Markus LendermannBajwa R. P. SinghFlorian StuhlenmillerPhilipp BeckerleStephan RinderknechtP. V. ManivannanPublished in: AIM (2015)
Keyphrases
- position control
- impedance control
- control system
- feedback loop
- force control
- contact force
- control scheme
- degrees of freedom
- closed loop
- robotic manipulator
- control strategy
- control strategies
- pid controller
- dc motor
- optimal control
- end effector
- control algorithm
- sliding mode
- control law
- robot arm
- real time
- control method
- relevance feedback
- fuzzy logic
- fuzzy controller
- experimental data
- trajectory tracking
- shape memory alloy