Article : texte imprimé

Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments

Zollo, Loredana, Auteur ; Siciliano, Bruno, Auteur ; Alessandro De Luca ; Guglielmelli, Eugenio ; Dario, Paolo |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 127, N° 3, Septembre 2005)

Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robot and environment, instead, the main objective of a control st[...]

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