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