Dynamic control of a manipulator with passive joints-position control experiments by a prototype manipulator.
Hirohiko AraiSusumu TachiPublished in: IROS (1990)
Keyphrases
- robotic manipulator
- degrees of freedom
- end effector
- position control
- force control
- robot manipulators
- control system
- robotic arm
- control method
- vision system
- impedance control
- inverse kinematics
- visual servoing
- robotic systems
- contact force
- control scheme
- robot arm
- joint angles
- control strategy
- force feedback
- motion planning
- control algorithm
- adaptive control
- control law
- closed loop
- path planning
- pose estimation
- mobile robot
- master slave
- control strategies
- human motion
- position and orientation
- pid controller
- dynamic model
- human body
- dynamic environments