Hybrid position and force control of a robot arm equipped with joint torque sensors.

Hyun-Cheol Cho Jae-Kyung Min Jae-Bok Song

Published in: URAI (2013)

Keyphrases

position control
robot arm
force control
end effector
motion planning
position and orientation
inverse kinematics
control strategies
control law
contact force
robot manipulators
closed loop
real time
nonlinear systems
degrees of freedom
control scheme
control strategy
joint angles
robotic manipulator
neural network