Force/Torque Sensorless Compliant Control Strategy for Assembly Tasks Using a 6-DOF Collaborative Robot.
Fan ZengJuliang XiaoHaitao LiuPublished in: IEEE Access (2019)
Keyphrases
- control strategy
- position control
- force control
- control algorithm
- control scheme
- control strategies
- robotic manipulator
- control system
- control method
- operating conditions
- control law
- control architecture
- optimal control
- mathematical model
- robot manipulators
- matlab simulink
- adaptive fuzzy
- fuzzy controller
- pid control
- fuzzy logic control
- controller design
- robot arm
- pid controller
- sliding mode control
- speed control
- predictive control
- sliding mode
- visual servoing
- control loop
- closed loop
- biped robot
- pi controller
- robot motion
- end effector
- real time
- pose estimation