The Compliant Joint Toolbox for MATLAB: An Introduction With Examples

This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes fro...

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Vydané v:IEEE robotics & automation magazine Ročník 26; číslo 3; s. 52 - 63
Hlavní autori: Malzahn, Joern, Roozing, Wesley, Tsagarakis, Nikos
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.09.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Actuators
Load modeling
Mathematical model
Matlab
Nonlinear dynamics
Service robots
Torque control
ISSN:1070-9932, 1558-223X
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Shrnutí:This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2019.2896360