Grün et al., 2012 - Google Patents
Model based control of series elastic actuatorsGrün et al., 2012
View PDF- Document ID
- 9360872505624641861
- Author
- Grün M
- Müller R
- Konigorski U
- Publication year
- Publication venue
- 2012 4th Ieee Ras & Embs international conference on biomedical robotics and biomechatronics (Biorob)
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This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT 2 element if a disturbance compensator is …
- 230000001808 coupling 0 description 5
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