Torque Control with Joints Position and Velocity Limits Avoidance
Venus Pasandi,Daniele Pucci,Venus Pasandi,Daniele Pucci
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control architecture for fully actuated manipulators for tracking the desired time-varying trajectory while ensuring the joints position and velocity limits. The presented archit...
