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- W4317382661 abstract "Due to the effect of nonlinear friction and the flexibility of actuator in joint, the compliance control of the flexible joint robots (FJRs) is remaining a challenge. The object of this paper is to investigate a modified active disturbance rejection control (MADRC) method with the ability of accurate position tracking and compliant behavior. The MADRC is established on the link position and is derived from the dynamic model of the FJRs with the extended state observer (ESO). Moreover, a modified PD controller is designed for compliance behavior with the compensation of the desired position from the external force. It has a similar dynamic response to the position commands as well as the unexpected external force from the environment. The experiments are implemented with the comparison of the full state feedback (FSF) controller to illustrate the dynamic response of the step signals and the unexpected external force. Although the results show that the FSF controller has a quicker response to the position command and the undesired external force, this method is more accurate in position tracking and is more compliant with the external force." @default.
- W4317382661 created "2023-01-19" @default.
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- W4317382661 date "2022-12-05" @default.
- W4317382661 modified "2023-09-25" @default.
- W4317382661 title "A modified active disturbance rejection control method for the compliance control of the flexible joint robots" @default.
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- W4317382661 doi "https://doi.org/10.1109/robio55434.2022.10011734" @default.
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