Enhanced precision in robot arm positioning: A nonlinear damping approach for flexible joint manipulators
Abstract This article introduces an advanced nonlinear controller designed for optimizing the performance of a single‐link robot arm featuring a flexible joint. The proposed nonlinear control strategy incorporates a Proportional‐Integral (PI) controller in conjunction with a nonlinear velocity feedb...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-10-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12707 |