Journal of Applied Mathematics and Statistical Applications

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Journal of Applied Mathematics and Statistical Applications 44 7897 074717

Mobile Robot System Online Journals

Robotic systems are gradually known as distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden; as a result, towards to maximize robustness to mechanical disturbances and achieve high control performance, we emphasize the necessity for executing in close proximity to control plant allocating stiffness feedback in a latency-prone centralized control process. This study talks about optimal controller design problem with a damped gain design method for a class of SEA cascaded control architectures, which is composed of outer-impedance and inner torque feedback loops. These are authenticated by analysissimulation, and experimental testing based on high-performance actuators and on omnidirectional mobile base

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