Robust Control of Actuators Based on Dynamic Impedance Matching.
نویسندگان
چکیده
منابع مشابه
Robust Force and Impedance Control of Series Elastic Actuators
Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...
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The industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. They could be mainly separated into two great classes, namely Hybrid control, where...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1993
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.59.2383