Workspace Nonlinear Disturbance Observer for Robust Position Control of Flexible Joint Robots
Author:
Affiliation:
1. Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea
2. School of Robotics, Kwangwoon University, Seoul, South Korea
Funder
NAU Robotics Co., Ltd.
NRF
Korean Government
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Link
http://xplorestaging.ieee.org/ielx7/7083369/10474437/10465597.pdf?arnumber=10465597
Reference21 articles.
1. Robots with Flexible Elements
2. Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach
3. Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots
4. Robot Collisions: A Survey on Detection, Isolation, and Identification
5. Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression
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