VRA grounds discrete-time joint acceleration commands in voltage-constrained actuator physics to eliminate unrealizable accelerations and reduce oscillations in electric motor systems.
Joint position and velocity bounds in discrete-time acceleration/torque control of robot ma- nipulators.IEEE Robotics and Automation Letters, 3(1): 281–288
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VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
VRA grounds discrete-time joint acceleration commands in voltage-constrained actuator physics to eliminate unrealizable accelerations and reduce oscillations in electric motor systems.