A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints
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DOI: 10.3390/mi13030409
Abstract: A nonlinear stiffness actuator (NSA) can achieve high torque/force resolution in the low stiffness range and high bandwidth in the high stiffness range. However, for the NSA, due to the imperfect performance of the elastic… read more here.
Keywords: compliant robot; control; nonlinear stiffness;