Improvement in force control with force projection for 2-DOF tendon-driven spherical joint mechanisms.
Keita ShimamotoKento WatanabeKouhei OhnishiPublished in: ICM (2013)
Keyphrases
- force control
- position control
- robot manipulators
- control strategy
- closed loop
- impedance control
- robotic cell
- end effector
- control law
- three dimensional
- control strategies
- control scheme
- optimal control
- contact force
- dynamic model
- mathematical model
- control architecture
- inverse kinematics
- experimental data
- control system