Operational Space Control Under Actuator Bandwidth Limitation
Hosang Lee Jaeheung Park Hosang Lee Jaeheung Park
The actuator bandwidth limitation deteriorates the stability and performance of torque-based robot controllers. Operational space control is especially prone to this problem, since the limited bandwidth of a single actuator can reduce the performance of all related tasks simultaneously. In this article, an intuitive way to penalize low performance actuators is proposed to improve the performance o...