Robustness Enhancement Strategy for Flexible Joints Based on Model Predictive Current and Adaptive Control

To improve the response speed, working accuracy and anti-interference ability of collaborative robots, a collaborative robot control method based on model prediction and adaptive algorithm is proposed. A non-parametric model predictive current control method is employed to update current data in rea...

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Bibliographic Details
Published in:	Journal of electrical engineering & technology Vol. 20; no. 8; pp. 5177 - 5188
Main Authors:	Yang, Yifei, Zhao, Jianxing, Sun, Xiaodong, Wang, Yong
Format:	Journal Article
Language:	English
Published:	Singapore Springer Nature Singapore 01.11.2025 Springer Nature B.V 대한전기학회
Subjects:	Accuracy Adaptive algorithms Adaptive control Algorithms Angular acceleration Collaboration Control algorithms Control methods Dynamic response Electrical Engineering Electrical Machines and Networks Electronics and Microelectronics Engineering Flexibility Friction Instrumentation Original Article Parameter estimation Parameter identification Power Electronics Predictive control Robot control Robots Robustness Sensors Systems stability 전기공학 Flexible joints Robust control Model predictive current control (MPCC) Adaptive control
ISSN:	1975-0102, 2093-7423
Online Access:	Get full text
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