Sentence examples for joint controller from inspiring English sources
The proposed hybrid contouring controller was experimentally compared with the independent joint controller that is designed in the acceleration control framework with disturbance observer.
The proposed controller comprises of an independent joint controller, designed in the configuration space, and a sliding mode controller that enforces desired dynamics for the tracking error projections to the Frenet-Serret frame.
An actuator specialization is proposed where the joint controller is responsible for the gross vibrationless motion of the link, while the link actuators are expected to deal only with residual vibrations that may arise from modeling errors.
Extensive experiments are conducted on a three-link direct drive robot, to mainly investigate the ability of the independent joint controller with the acceleration loop in resisting the coupling torque, and demonstrating the enhanced trajectory tracking performance.
The motion pattern for underwater snake robots and the joint controller are presented in "Joint controller", followed by a description of the experimental setup in "Experimental setup".
where k p >0 and k d >0 are the joint controller gains.
The torque from the joint controllers is applied to the arm and hand segments in the physics model, which updates the position of all of the rigid bodies in the simulated world including the object.
By introduction of two units representing explicitly the Stance and Swing the physical properties of the situation can be exploited without requiring specific explicit phase-coupling of the joint controllers for each kinematic situation.
Experimental results, undertaken on a delta robot, showed that hybrid contouring controller outperforms independent joint control architecture.
We send the data to joint's controller, and the controller will use a closed loop control method to execute this commend.
This paper presents a framework for the design of a joint motion controller and a control allocation strategy for dynamic positioning of marine vehicles.
