Switching control for tracking of a hybrid position-force trajectory.
D. J. F. HeckAlessandro SacconNathan van de WouwHenk NijmeijerPublished in: CoRR (2015)
Keyphrases
- position control
- reference trajectory
- closed loop
- robotic manipulator
- force control
- control scheme
- control system
- trajectory tracking
- control strategies
- end effector
- impedance control
- control strategy
- robot motion
- control method
- control law
- position estimation
- particle filter
- mean shift
- tracking error
- visual tracking
- force feedback
- degrees of freedom
- visual servoing
- state vector
- robot arm
- robot manipulators
- joint angles
- position information
- dc motor
- kalman filter
- kinematic model
- object tracking
- neural network controller
- appearance model
- receding horizon
- physically plausible
- computer vision