Fast hybrid position / force control of a parallel kinematic load simulator for 6-DOF Hardware-in-the-Loop axle tests.
Andreas KohlstedtPhillip TraphönerSimon OlmaKarl-Peter JäkerAnsgar TrächtlerPublished in: AIM (2017)
Keyphrases
- position control
- force control
- robot manipulators
- end effector
- inverse kinematics
- degrees of freedom
- feedback loop
- robotic manipulator
- closed loop
- control strategy
- robot arm
- control scheme
- impedance control
- real time
- robotic cell
- control system
- control law
- visual servoing
- joint angles
- control strategies
- vision system
- control architecture
- pid controller
- dynamic model