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- W2023006181 abstract "In this paper, a model predictive controller for the position tracking of flexible robot joints with harmonic drive gears is presented. The control methodology enables the drive's safety and physical constraints on torque and speed variables while guaranteeing the stability of the system. The effect of the predictive horizon on the drive performance is examined. Moreover, the influence of parameter changes is tested in this paper. Experimental results demonstrate the proposed controller is very effective in tracking position references while meeting the demanding drive constraints requirements during operation." @default.
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- W2023006181 date "2014-07-01" @default.
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- W2023006181 title "Position Tracking Control of Flexible Robot Joints Using Model Predictive Control" @default.
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- W2023006181 doi "https://doi.org/10.4028/www.scientific.net/amm.607.799" @default.
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