Dynamic Modeling and Robust Force-Position Control of a Variable Stiffness Gripper

Ziqing Yu, Jiaming Fu,Bin Yao, George Chiu,Richard Voyles, Dongming Gan

2024 6TH INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS, REMAR 2024（2024）

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关键词

Dynamic Model,Robust Control,Variable Stiffness,Positive Control,Force Control,Robot Manipulator,Stiffness Levels,Robotic Gripper,Active Disturbance Rejection Control,Deterministic Control,Step Change,Tracking Error,Friction Force,Settling Time,Robotic Arm,Mechanical Design,Proportional-integral-derivative,Shape Memory,Extended State Observer,Robust Feedback,Stiffness Of Beam,Changes In Stiffness,Positive Gain,Steady-state Error,Linear Actuator,Parallel Beam,Magnetic Manipulation,Thrust Force

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