Positive Joint Torque Feedback Farhad Aghili Martin Buehler John M....  Home/Search
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Abstract: Positive joint torque feedback can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) non-ideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H torque feedback is proposed which takes the dynamics and uncertainty of the actuator into account and minimizes the system's sensitivity to load torques. In experiments on our direct-drive motor... (Update)
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BibTeX entry: (Update)
@misc{ torque-motion,
author = "Positive Joint Torque",
title = "Motion Control with H",
url = "citeseer.ist.psu.edu/761983.html" }
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