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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| 主要作者: | |
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| 其他作者: | |
| 格式: | Final Year Project |
| 語言: | English |
| 出版: |
2018
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| 主題: | |
| 在線閱讀: | http://hdl.handle.net/10356/75332 |
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| 機構: | Nanyang Technological University |
| 語言: | English |