This paper presents a position control scheme for flexible joint robot based on online gravity
compensation (OGC). After concluding some drawbacks of OGC-based PD control law, a …

The elastic energy storage in biologically inspired variable impedance actuators (VIA) offer
the capability of executing cyclic and/or explosive multi-degree of freedom (DoF) motions …

Robotic systems find application in many areas today. Well known is the industrial field,
where robots execute tasks which require high accuracy, fast execution cycles, or the …

The development and control of a rotary series elastic actuator (SEA) are investigated in this
paper. First, a rotary SEA is designed with a small volume and is lightweight, where the …

冶金工业机器人在现代工业生产中扮演着越来越不可替代的角色. 由于工业自动化程度的大幅
提升, 人们对冶金工业机器人的性能也不断地提出新要求, 尤其是对其控制系统的稳定性提出了 …

This paper presents a control approach to stabilize limit cycle motions along a mechanical
mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity …

The compliance of series elastic actuators (SEAs) is significant for ensuring safe human–
machine interaction. However, in practical applications, the SEA is inevitably encountered …

Metallurgical industrial robots play an increasingly irreplaceable role in modern industrial
production. Due to the great improvement of industrial automation, people constantly put …

Biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute
cyclic and/or explosive multi degree of freedom (DoF) motions efficiently by storing elastic …

Series elastic actuators (SEAs) are powerful devices in the area of human-robot
collaboration. However, they still suffer from difficult position control issues, mainly because …