Fuzzy control of compliance force actuator module
The project provides a solution of accurate and efficient force control of compliance actuator of robot arm by using Series Elastic Actuator Model with treating the motor as a velocity source to the elastic element, rather than as a torque source. PID controller is used to achieve fast rise time and...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/75332 |
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| Institution: | Nanyang Technological University |
| Language: | English |