Matches in SemOpenAlex for { <https://semopenalex.org/work/W2188128133> ?p ?o ?g. }
- W2188128133 abstract "Abstract This paper proposes and evaluates the feed-forward decoupling of joint torque in elastic joint robots. The joint elasticities, captured by the third-order polynomial function, are considered together with the inverse manipulator dynamics so as to provide the required driving torque for the reference trajectories. Therewith decoupled joint actuators can be robustly controlled in a feedback manner for which a convenient proportional-derivative (PD) regulation is suficient. Using the inverse manipulator dynamics and joint model the reference value in the joint output (load) and not input (motor) space is provided to the feedback control of decoupled actuators. This allows compensating for the joint torsion and improve the load positioning accuracy without output sensors. The proposed control strategy is evaluated experimentally on a single elastic joint under gravity. We show an improved accuracy of the load positioning without adapting the underlying control loop and remarkable changes in the transient response." @default.
- W2188128133 created "2016-06-24" @default.
- W2188128133 creator A5009739255 @default.
- W2188128133 creator A5017828081 @default.
- W2188128133 date "2015-01-01" @default.
- W2188128133 modified "2023-09-24" @default.
- W2188128133 title "Control of Nonlinear Elastic Joint Robots using Feed-forward Torque Decoupling" @default.
- W2188128133 cites W1972518516 @default.
- W2188128133 cites W1973811020 @default.
- W2188128133 cites W1979472858 @default.
- W2188128133 cites W1995090200 @default.
- W2188128133 cites W2022197757 @default.
- W2188128133 cites W2024219400 @default.
- W2188128133 cites W2047111851 @default.
- W2188128133 cites W2054888278 @default.
- W2188128133 cites W2057589125 @default.
- W2188128133 cites W2068027769 @default.
- W2188128133 cites W2073136132 @default.
- W2188128133 cites W2074233370 @default.
- W2188128133 cites W2104181254 @default.
- W2188128133 cites W2116336719 @default.
- W2188128133 cites W2123035336 @default.
- W2188128133 cites W2126569471 @default.
- W2188128133 cites W2142163623 @default.
- W2188128133 cites W2150024155 @default.
- W2188128133 cites W2155286978 @default.
- W2188128133 cites W2161968101 @default.
- W2188128133 cites W2167186576 @default.
- W2188128133 cites W2172122756 @default.
- W2188128133 cites W2294898062 @default.
- W2188128133 cites W2552820683 @default.
- W2188128133 doi "https://doi.org/10.1016/j.ifacol.2015.09.173" @default.
- W2188128133 hasPublicationYear "2015" @default.
- W2188128133 type Work @default.
- W2188128133 sameAs 2188128133 @default.
- W2188128133 citedByCount "3" @default.
- W2188128133 countsByYear W21881281332015 @default.
- W2188128133 countsByYear W21881281332017 @default.
- W2188128133 countsByYear W21881281332020 @default.
- W2188128133 crossrefType "journal-article" @default.
- W2188128133 hasAuthorship W2188128133A5009739255 @default.
- W2188128133 hasAuthorship W2188128133A5017828081 @default.
- W2188128133 hasBestOaLocation W21881281331 @default.
- W2188128133 hasConcept C121332964 @default.
- W2188128133 hasConcept C127413603 @default.
- W2188128133 hasConcept C133731056 @default.
- W2188128133 hasConcept C134306372 @default.
- W2188128133 hasConcept C144171764 @default.
- W2188128133 hasConcept C154945302 @default.
- W2188128133 hasConcept C158622935 @default.
- W2188128133 hasConcept C172707124 @default.
- W2188128133 hasConcept C18555067 @default.
- W2188128133 hasConcept C187523126 @default.
- W2188128133 hasConcept C205606062 @default.
- W2188128133 hasConcept C2775924081 @default.
- W2188128133 hasConcept C33923547 @default.
- W2188128133 hasConcept C38858127 @default.
- W2188128133 hasConcept C39920418 @default.
- W2188128133 hasConcept C41008148 @default.
- W2188128133 hasConcept C47446073 @default.
- W2188128133 hasConcept C62520636 @default.
- W2188128133 hasConcept C66938386 @default.
- W2188128133 hasConcept C74650414 @default.
- W2188128133 hasConcept C90119067 @default.
- W2188128133 hasConcept C90509273 @default.
- W2188128133 hasConcept C97355855 @default.
- W2188128133 hasConceptScore W2188128133C121332964 @default.
- W2188128133 hasConceptScore W2188128133C127413603 @default.
- W2188128133 hasConceptScore W2188128133C133731056 @default.
- W2188128133 hasConceptScore W2188128133C134306372 @default.
- W2188128133 hasConceptScore W2188128133C144171764 @default.
- W2188128133 hasConceptScore W2188128133C154945302 @default.
- W2188128133 hasConceptScore W2188128133C158622935 @default.
- W2188128133 hasConceptScore W2188128133C172707124 @default.
- W2188128133 hasConceptScore W2188128133C18555067 @default.
- W2188128133 hasConceptScore W2188128133C187523126 @default.
- W2188128133 hasConceptScore W2188128133C205606062 @default.
- W2188128133 hasConceptScore W2188128133C2775924081 @default.
- W2188128133 hasConceptScore W2188128133C33923547 @default.
- W2188128133 hasConceptScore W2188128133C38858127 @default.
- W2188128133 hasConceptScore W2188128133C39920418 @default.
- W2188128133 hasConceptScore W2188128133C41008148 @default.
- W2188128133 hasConceptScore W2188128133C47446073 @default.
- W2188128133 hasConceptScore W2188128133C62520636 @default.
- W2188128133 hasConceptScore W2188128133C66938386 @default.
- W2188128133 hasConceptScore W2188128133C74650414 @default.
- W2188128133 hasConceptScore W2188128133C90119067 @default.
- W2188128133 hasConceptScore W2188128133C90509273 @default.
- W2188128133 hasConceptScore W2188128133C97355855 @default.
- W2188128133 hasLocation W21881281331 @default.
- W2188128133 hasOpenAccess W2188128133 @default.
- W2188128133 hasPrimaryLocation W21881281331 @default.
- W2188128133 hasRelatedWork W1992935998 @default.
- W2188128133 hasRelatedWork W2017142227 @default.
- W2188128133 hasRelatedWork W2057750803 @default.
- W2188128133 hasRelatedWork W2105384031 @default.
- W2188128133 hasRelatedWork W2108226380 @default.
- W2188128133 hasRelatedWork W2136790576 @default.
- W2188128133 hasRelatedWork W2156644041 @default.
- W2188128133 hasRelatedWork W2157130375 @default.