Cascade position- torque control strategy based on function approximation technique (FAT) for flexible joint robots

Research Square

Authors 3

1. Hayder F. N. Al-Shuka Aachen Machine Dynamics and Robotics

   RWTH Aachen University · University of Baghdad

   Affiliation as printed

   Department of Aeronautical Engineering , College of Engineering , University of Baghdad , Baghdad , Iraq

   Machine Dynamics and Robotics , RWTH University , Aachen , Germany

   Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq

2. Burkhard J. Corves corresponding Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory,

   Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH University, Aachen, Germany

3. Ehab N. Abbas

   Ministry of Higher Education and Scientific Research

   Affiliation as printed

   Ministry of Higher Education and Scientific Research , Studies and Planning and Follow Up Directorate , Baghdad , Iraq

   Ministry of Higher Education and Scientific Research, Studies and Planning and Follow Up Directorate, Baghdad, Iraq