A new PD based robust control method for the robot joint module
Sign Up to like & getrecommendations! Published in 2021 at "Mechanical Systems and Signal Processing"
DOI: 10.1016/j.ymssp.2021.107958
Abstract: Abstract In order to reduce the impact of load and system parameter changes on the dynamic performance of the robot joint module, we propose a PD based robust control method, which also inherits the traditional… read more here.
Keywords: control; method; based robust; module ... See more keywords
Instantaneous Angular Speed Extraction Based on Nonuniform Local Polynomial Differentiator for the Stiffness Identification of the Robot Joint
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3227987
Abstract: In the identification of industrial robot joint system, in order to obtain the ideal frequency response of the system, additional excitation needs to be applied. The addition of excitation signals, such as chirp signals and… read more here.
Keywords: speed; system; local polynomial; identification ... See more keywords
A novel model-based robust control design for collaborative robot joint module
Sign Up to like & getrecommendations! Published in 2022 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/09544062211054753
Abstract: In order to reduce the impact of load and system parameter changes on the dynamic performance of collaborative robot joint module, a novel robust control algorithm is proposed in this paper to solve the problem… read more here.
Keywords: joint module; control; robot joint; robot ... See more keywords