Impedance compensation of flexible joint actuator for ideal force mode control

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Kong, Kyoungchul ^a   Bae, Joonbum ^a   Tomizuka, Masayoshi ^a  

^a NONE

Author keywords

Design methodology for HMS; Human operator support; Measurement actuation

Indexed keywords

ACTUATION SYSTEMS; CONTROL ALGORITHMS; DESIGN METHODOLOGY FOR HMS; DISTURBANCE OBSERVER; FEED-FORWARD CONTROLLERS; FLEXIBLE JOINTS; HUMAN BODIES; HUMAN JOINTS; HUMAN OPERATOR SUPPORT; IMPEDANCE COMPENSATION; LOW IMPEDANCE; MODE CONTROL; NOMINAL MODELS; TIME VARYING; ZERO IMPEDANCE;

ALGORITHMS; DESIGN; FLEXIBLE MANIPULATORS; MATHEMATICAL OPERATORS; MECHANICAL PROPERTIES; MOTORS; TORQUE;

ACTUATORS;

EID: 79961018523     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.2663     Document Type: Conference Paper

References (6)

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