Fingertip force and position control using force sensor and tactile sensor for Universal Robot Hand II.
Wataru FukuiFutoshi KobayashiFumio KojimaHiroyuki NakamotoTadashi MaedaNobuaki ImamuraKazuhiko SasabeHidenori ShirasawaPublished in: RiiSS (2011)
Keyphrases
- position control
- force control
- contact force
- robotic manipulator
- control scheme
- tactile sensing
- closed loop
- end effector
- force feedback
- robot arm
- control strategies
- degrees of freedom
- robot manipulators
- impedance control
- pid controller
- control system
- feedback loop
- real time
- finite element analysis
- vision system
- dc motor
- mobile robot
- control architecture
- control strategy
- genetic algorithm