Trajectory Tracking Control for Flexible-Joint Robot Based on Extended Kalman Filter and PD Control
The robot arm with flexible joint has good environmental adaptability and human robot interaction ability. However, the controller for such robot mostly relies on data acquisition of multiple sensors, which is greatly disturbed by external factors, resulting in a decrease in control precision. Aimin...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2019-05-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00025/full |