Input-dependent stability on torque servo system of robot hands.
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability
Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torqu...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1989
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.7.6_674