Robust Tracking Control of Variable Stiffness Joint Based on Feedback Linearization and Disturbance Observer With Estimation Error Compensation

Robust Tracking Control of Variable Stiffness Joint Based on Feedback Linearization and Disturbance Observer With Estimation Error Compensation

The variable stiffness joint (VSJ) has the characteristics of independent and controllable position and stiffness. The variable stiffness characteristics and inherent flexibility make the VSJ suitable to be used as the actuation joint of the physical human-robot interaction application robot, so as...

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Bibliografiska uppgifter
Huvudupphovsman:	Jishu Guo
Materialtyp:	Artikel
Språk:	English
Publicerad:	IEEE 2020-01-01
Serie:	IEEE Access
Ämnen:	Variable stiffness joint feedback linearization disturbance observer sliding mode control estimation error compensator robust tracking control
Länkar:	https://ieeexplore.ieee.org/document/9201271/

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