Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller.
Yunfei DongTianyu RenDan WuKen ChenPublished in: J. Intell. Robotic Syst. (2020)
Keyphrases
- control architecture
- position control
- control loop
- mobile robot
- control strategy
- control scheme
- contact force
- motion control
- control system
- robotic systems
- robotic manipulator
- autonomous robots
- force control
- control algorithm
- control signals
- robot manipulators
- central pattern generator
- control method
- closed loop
- mobile robotics
- impedance control
- wheeled mobile robot
- robot motion
- control strategies
- controller design
- optimal control
- home environment
- robot control
- robot behavior
- real time
- dc motor
- visual servoing
- master slave
- manipulation tasks
- semi autonomous
- legged robots
- pid controller
- inverted pendulum
- end effector
- fuzzy controller
- neural network controller
- biped robot
- hand eye
- force feedback
- dynamic model
- control law
- induction motor
- human operators
- service robots
- robot teams
- robot navigation
- real robot
- trajectory tracking
- kinematic model
- dynamic environments
- robot arm
- degrees of freedom
- humanoid robot
- path planning
- feedback control
- vision system
- disturbance rejection
- adaptive control
- multi robot
- control theory
- reference trajectory
- biped walking
- fuzzy control
- changing environment