Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation
نویسندگان
چکیده
منابع مشابه
Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation
We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robots with variable stiffness actuation in agonistic-antagonistic configuration. Stiffness estimation is obtained using a dynamic residual that provides a filtered version of the unmeasured flexibility torques, combining it with a recursive least squares algorithm that fits a polynomial model to ...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2011
ISSN: 1474-6670
DOI: 10.3182/20110828-6-it-1002.03299