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Inicio  /  Applied Sciences  /  Vol: 13 Par: 24 (2023)  /  Artículo
ARTÍCULO
TITULO

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Martin Varga    
Ivan Virgala    
Michal Kelemen    
L?ubica Miková    
Zdenko Bobovský    
Peter Jan Sincak and Tomá? Merva    

Resumen

The outcomes of this research can be implemented in the design of fast and easily tunable low-level controllers of redundant pneumatic parallel robots. This control algorithm allows for online stiffness changes of the robot, providing safe manipulation while maintaining the ability to use high amounts of force if needed.

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