Abstract
To realize the elastic joint control, an elastic model of joint was set up. Using the differential information of the joint torque sensors and the motor position sensors, a four-state feedback controller was designed. Parameters of the feedback controller were auto-adjusted according to the fuzzy logic control rule, which realized the position control, the torque control and the impendance control. The designed controller has been verified on the HIT/DLR space-robot. Experimental results demonstrate the effectiveness of the joint controller.
| Original language | English |
|---|---|
| Pages (from-to) | 376-380 |
| Number of pages | 5 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 40 |
| Issue number | 3 |
| State | Published - Mar 2008 |
Keywords
- Elastic joint
- Fuzzy control
- State feedback controller
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