series elastic actuactor; input-output inversion-based control; model-predictive-control motion planner
A software suite for series elastic actuactor's robots. An input-output inversion-based control algorithm is designed to cope with system elasticity, while a model-predictive-control motion planner is developed to generate effective motion trajectories taking into account both joint and cartesian limits.
Control strategy and motion planning for serial elastic actuator robot
Manuel Beschi;Nicola Pedrocchi
2015
Abstract
A software suite for series elastic actuactor's robots. An input-output inversion-based control algorithm is designed to cope with system elasticity, while a model-predictive-control motion planner is developed to generate effective motion trajectories taking into account both joint and cartesian limits.File in questo prodotto:
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