do Amaral et al., 2012 - Google Patents
Robust force and impedance control of series elastic actuatorsdo Amaral et al., 2012
View PDF- Document ID
- 3836661500124577911
- Author
- do Amaral L
- Jardim B
- Siqueira A
- Publication year
- Publication venue
- ABCM Symp. Ser. Mechatronics
External Links
Snippet
This paper deals with robust Ж∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the Ж∞ criterion have been widely used …
- 210000003141 Lower Extremity 0 abstract description 6
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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