Influence of joint flexibility in the adjustment of impedance controller parameters

The adjustment of stiffness, damping, and apparent mass in an impedance controller is analyzed for a joint linear model which includes flexibility, modeled as a spring effect in the torque transmission between actuator and load. An approximate model to the fourth-order linear model is utilized to an...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Latre, L.G., Cabrera, M.A.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Automatic control Damping Force control Force feedback Impedance Shape control Springs Torque control Weight control
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