Generalizing Torque Control Concepts Using Well-Established Torque Control Methods on Variable Stiffness Robots

被引：52
|
作者：
Petit, Florian [1 ]
Dietrich, Alexander [1 ]
Albu-Schaeffer, Alin [1 ]
机构：
[1] German Aerosp Ctr DLR, Wessling, Germany
来源：
IEEE ROBOTICS & AUTOMATION MAGAZINE | 2015年 / 22卷 / 04期
关键词：
IMPEDANCE CONTROL; ACTUATORS;
D O I：
10.1109/MRA.2015.2476576
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
引用
收藏
页码：37 / 51
页数：15
相关论文
共 50 条
  • [31] Physical HumanRobot Interaction Control of Variable Stiffness Exoskeleton With sEMG-Based Torque Estimation
    Zhu, Yanghui
    Wu, Qingcong
    Chen, Bai
    Zhao, Ziyue
    Liang, Conghui
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2023, 19 (10) : 10601 - 10612
  • [32] Study on compliant control and torque compensation method of wire-driven variable stiffness joint
    Fang L.
    Zhang M.
    Sun F.
    Koichi O.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2019, 40 (12): : 234 - 241
  • [33] Model Predictive Torque Control for Torque Ripple Compensation in Variable-Speed PMSMs
    Mora, Andres
    Orellana, Alvaro
    Juliet, Jorge
    Cardenas, Roberto
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (07) : 4584 - 4592
  • [34] Erratum to: Low stiffness design and hysteresis compensation torque control of SEA for active exercise rehabilitation robots
    Wonje Choi
    Jongseok Won
    Jimin Lee
    Jaeheung Park
    Autonomous Robots, 2017, 41 : 1243 - 1244
  • [35] Methods of engine torque estimation for control algorithms
    Du, Chang-Qing
    Yan, Fu-Wu
    Yan, Yun-Bing
    Yang, Ping-Long
    Neiranji Xuebao/Transactions of CSICE (Chinese Society for Internal Combustion Engines), 2008, 26 (05): : 446 - 451
  • [36] Torque Control Methods for Wind Turbines and Their Responses
    Lim, Chae-Wook
    2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2012, : 1788 - 1790
  • [37] Methods for Direct Torque Control of Induction Machines
    Kruselj, Dubravko
    2017 19TH INTERNATIONAL CONFERENCE ON ELECTRICAL DRIVES AND POWER ELECTRONICS (EDPE), 2017, : 218 - 225
  • [38] Optimal Control of a Servo Drive System with Variable Torque
    Botan, Corneliu
    Ostafi, Florin
    2017 21ST INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2017, : 500 - 505
  • [39] Torque control of a spherical machine with variable pole pitch
    Kahlen, K
    Voss, I
    Priebe, C
    De Doncker, RW
    PESC'02: 2002 IEEE 33RD ANNUAL POWER ELECTRONICS SPECIALISTS CONFERENCE, VOLS 1-4, CONFERENCE PROCEEDINGS, 2002, : 1 - 5
  • [40] Speed sensorless variable structure torque control of PMSM
    Jezernik, K
    Urlep, E
    Polic, A
    IECON 2005: THIRTY-FIRST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, 2005, : 1480 - 1485
12345