EtherCAT-based real-time control system design for a remote-direct-drive 2-DOF manipulator
The control system of a high-DOF human-interaction robot requires the high-frequency simultaneous control of multiple joints, which needs the capability to handle computation-massive tasks with low latancies. Aiming at the force control of 2-DOF fluid-actuated manipulator, I'm going to introduc...
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| Online Access: | http://hdl.handle.net/2047/D20324049 |