Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure
Sign Up to like & getrecommendations! Published in 2017 at "Advanced Robotics"
DOI: 10.1080/01691864.2016.1264886
Abstract: The paper deals with the modeling, identification and control of a flexible joint robot developed for medical applications at the German Aerospace Center (DLR). In order to design anthropomorphic kinematics, the robot uses a coupled… read more here.
Keywords: control; state feedback; tracking control; joint structure ... See more keywords