Abstract
This paper deals with the control of a collaborative robot manipulator with series elastic actuators. In particular, robust tuning rules for cascade control of the joints are presented. Both the motor velocity and link position control loops are considered. The proposed tuning rules allow the online computation of robust control parameters to cope with the different link reflected inertia. Experimental results show the effectiveness of the method in real applications.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have