A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints

A nonlinear stiffness actuator (NSA) can achieve high torque/force resolution in the low stiffness range and high bandwidth in the high stiffness range. However, for the NSA, due to the imperfect performance of the elastic mechanical component such as friction, hysteresis, and unmeasurable energy co...

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Detalles Bibliográficos
Autores principales: Song, Zhibin, Ma, Tianyu, Qi, Keke, Spyrakos-Papastavridis, Emmanouil, Zhang, Songyuan, Kang, Rongjie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8951521/
https://www.ncbi.nlm.nih.gov/pubmed/35334701
http://dx.doi.org/10.3390/mi13030409

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8951521/
https://www.ncbi.nlm.nih.gov/pubmed/35334701
http://dx.doi.org/10.3390/mi13030409

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