Uploaded March 2015 | Updated September 2026, 2 hours ago
A demonstration of controlling dynamic motions of a 5 degree-of-freedom arm using Matlab. The repeatable motion is enabled by compensating for the effects of gravity and acceleration on each link of the arm. The series elastic actuation and torque control at each joint enable these high-speed maneuvers with low-bandwidth control. In this video, the command frequency was deliberately slowed to 25 Hz, down from the maximum command frequency of 1 kHz.
A demonstration of controlling dynamic motions of a 5 degree-of-freedom arm using Matlab. The repeatable motion is enabled by compensating for the effects of gravity and acceleration on each link of the arm. The series elastic actuation and torque control at each joint enable these high-speed maneuvers with low-bandwidth control. In this video, the command frequency was deliberately slowed to 25 Hz, down from the maximum command frequency of 1 kHz.
