Force control of a very lightweight single-link flexible arm based on coupling torque feedback

Mechatronics

Volumn 19, Issue 3, 2009, Pages 334-347

  Payo, Ismael ^a   Feliu, Vicente ^a   Cortázar, Osvaldo Daniel ^a  

^a UNIVERSITY OF CASTILLA LA MANCHA   (Spain)

Author keywords

Coupling torque; Flexible arm; Force control; Strain gauge

Indexed keywords

CONTROL THEORY; FLEXIBLE MANIPULATORS; FORCE CONTROL; ROBOTIC ARMS; STRAIN GAGES; THREE TERM CONTROL SYSTEMS; TORQUE;

ANGULAR POSITION SENSORS; COLLISION DETECTION ALGORITHM; COUPLING TORQUE; FEEDBACK CONTROL LAW; FLEXIBLE ARM; LUMPED PARAMETER MODELING; MODIFIED PID CONTROLLER; SINGLE-LINK FLEXIBLE MANIPULATORS;

FEEDBACK;

EID: 62249196788     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2008.10.003     Document Type: Article

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