This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.
|Number of pages||12|
|Journal||IEEE Robotics and Automation Magazine|
|Early online date||9 Apr 2019|
|Publication status||Published - 1 Sep 2019|
- 22/4 OA procedure