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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Bibliographic Details
Published in:IEEE robotics & automation magazine Vol. 26; no. 3; pp. 52 - 63
Main Authors: Malzahn, Joern, Roozing, Wesley, Tsagarakis, Nikos
Format: Journal Article
Language:English
Published: New York IEEE 01.09.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Actuators
Load modeling
Mathematical model
Matlab
Nonlinear dynamics
Service robots
Torque control
ISSN:1070-9932, 1558-223X
Online Access:Get full text
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Summary: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.
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content type line 14
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2019.2896360