Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a discrete variable stiffness actuator (DVSA), whic...

Full description

Bibliographic Details
Main Authors: Irfan Hussain, Ahmad Albalasie, Mohammad I. Awad, Dongming Gan
Format: Article
Language:English
Published: MDPI AG 2019-06-01
Series:Actuators
Subjects:
variable stiffness actuators (VSA)
linear quadratic control (LQR)
computed torque control (CTC)
actuator control
complaint manipulator
Online Access:https://www.mdpi.com/2076-0825/8/3/50

Internet

https://www.mdpi.com/2076-0825/8/3/50

Similar Items