Jordi Marsà Fargas

Actuator Digital Twins for Predictive Robotic Simulation: Experimental Validation and Multi-DOF Scalability

This work validate a DT of the Pulsar PULSE115 quasi-direct-drive actuator that reproduces the actuator electromechanical dynamics, physical operating limits, sensing characteristics, and embedded cascaded controller executed at 10 kHz on a 1-DOF pendulum testbed, and demonstrates that actuator Digital Twins maintains...