IEEE - Institute of Electrical and Electronics Engineers, Inc. - Link motion feedback based force/torque servo control of robot joint with series elasticity

2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

Author(s): Sunkyum Yoo ; Wan Kyun Chung
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2015
Conference Location: Goyang, South Korea
Conference Date: 28 October 2015
Page(s): 133 - 134
ISBN (CD): 978-1-4673-7969-4
ISBN (Electronic): 978-1-4673-7971-7
ISBN (USB): 978-1-4673-7970-0
DOI: 10.1109/URAI.2015.7358877
Regular:

This paper presents an effective method to generate desired force/torque from an actuator with intrinsic compliance. Instead of direct spring deflection feedback control method, we utilize link... View More

Advertisement