Position-based impedance control of an industrial hydraulic manipulator.
Bernd HeinrichsNariman SepehriAlexander Thornton-TrumpPublished in: ICRA (1996)
Keyphrases
- impedance control
- force control
- end effector
- position control
- robot manipulators
- control system
- degrees of freedom
- control method
- robotic manipulator
- inverse kinematics
- manipulation tasks
- robot arm
- vision system
- closed loop
- control strategy
- visual servoing
- control scheme
- force feedback
- position and orientation
- pid controller
- control architecture
- path planning
- optimal control
- simulation model
- real time
- control strategies
- mobile robot