Proxy based position control for flexible joint robot with link side energy feedback

Robotics and Autonomous Systems, pp. 1032722019.

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EI

Abstract:

In this paper, a set-point regulation scheme for flexible joint robot (FJR) with link side energy (LSE) feedback is introduced. The drawbacks of traditional PD-type control laws are analyzed first. On this basis, a nonlinear regulator is designed by combining proxy based sliding mode control with LSE feedback, which is targeted at enhance...More

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