Kinematic stability issues in force control of manipulators.

Chae H. An John M. Hollerbach

Published in: ICRA (1987)

Keyphrases

force control
robot manipulators
control law
degrees of freedom
inverse kinematics
closed loop
control strategy
parallel manipulator
robotic cell
end effector
contact force
control scheme
adaptive control
optimal control
impedance control
control algorithm
input output
position control