Adaptive position/force control for robot manipulator in contact with a flexible environment.

Piotr Gierlak Marcin Szuster

Published in: Robotics Auton. Syst. (2017)

Keyphrases

robot manipulators
force control
control of robot manipulators
end effector
position control
inverse kinematics
control scheme
force feedback
dynamic model
control strategy
contact force
dynamic environments
mobile robot
real time
closed loop
pid controller
joint angles