Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer

ACC, pp. 4221-4226, 2018.

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Abstract:

Series elastic actuators (SEAs) are powerful devices in the area of human-robot collaboration. However, they still suffer from difficult position control issues, mainly because of the increased model complexity inherent in the actuation and dynamics. Therefore, an efficient approach is proposed to solve this problem in this paper, in whic...More

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