ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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12
Issue
vol 59 / DECEMBER, 2016
Article
UDC 007.52

COMPLIANT MOTION CONTROL ALGORITHM FOR FLEXIBLE JOINT MANIPULATOR WITH PARTIAL DYNAMIC COMPENSATION

V. V. Titov
St. Petersburg Institute for Informatics and Automation of Russian Academy of Sciences, Laboratory of Informational Technologies for Control and Robotics; Post-Graduate Student


Abstract.   Various approaches to compliant motion control for flexible joint robots are discussed and analyzed. A method is proposed to increase the dynamic accuracy of the control.
Keywords: manipulator, robot, force control, impedance control, flexible joints.