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- W4378875926 abstract "This paper addresses torque control and disturbance compensation for a load simulator used in hardware-in-the-loop simulations of robot manipulators. Focusing on the characteristics of a wide range of output torques and frequent accelerating and decelerating following motions of the load simulator, an active disturbance rejection control-based torque regulator is designed according to a mechatronic model. To reduce the negative effects of the inertia force, a feedforward compensator with inertia compensation is designed. The comprehensive feedback and feedforward control strategy gives the load simulator a desirable tracking capability despite the significant nonlinear disturbance in a highly accelerating and decelerating following motion. Experiments on a prototype machine were carried out to verify the effectiveness of the proposed control strategy." @default.
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- W4378875926 date "2023-01-01" @default.
- W4378875926 modified "2023-09-29" @default.
- W4378875926 title "Active Disturbance Rejection-Based Torque Control for a Load Simulator of Robotic Hardware-in-the-Loop Simulation" @default.
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- W4378875926 doi "https://doi.org/10.1007/978-981-19-9398-5_113" @default.
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