On the efficient control of series-parallel compliant articulated robots
Vishnu Dev Amara,Jörn Malzahn,Zeyu Ren,Wesley Roozing,Nikos Tsagarakis,Vishnu Dev Amara,Jörn Malzahn,Zeyu Ren,Wesley Roozing,Nikos Tsagarakis
Torque distribution in redundant robots that combine the potential of asymmetric series-parallel actuated branches and multi-articulation pose a non-trivial challenge. To address the problem, this work proposes a novel optimization based controller that can accommodate various quadratic criteria to perform the torque distribution among dissimilar series and parallel actuators in order to maximize ...
