Position Control of Flexible Joint Robots with PD Controller Based on Disturbance Observer

Peiwen Li
Peiwen Li
Wen Zhao
Wen Zhao
Wei Yin
Wei Yin

ARSO, pp. 84-89, 2019.

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Abstract:

With the trend of “human-robots interaction”, robots will inevitably come into contact with people in task execution. In order to ensure human security, flexible reduction elements are actively introduced into robot joints. Compared to traditional rigid robots, Flexible Joint Robots (FJRs) have advantages on these aspects, such as low out...More

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