Optimal control of manipulator with joint clearance compensation via generalized policy learning
To enhance the manipulator's motion accuracy, a Hertz collision force model for the hinge positions and a dynamic model for the manipulator is established, a novel adaptive clearance compensation algorithm is proposed to counteract the nonlinear effects induced by joint clearance. This article...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806251365989 |
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