Force Control Command Synthesis for Constrained Hybrid Dynamic Systems with Friction.
David J. AustinBrenan J. McCarragherPublished in: Int. J. Robotics Res. (2001)
Keyphrases
- dynamic systems
- force control
- position control
- robot manipulators
- complex systems
- control strategy
- dynamical systems
- closed loop
- discrete event
- qualitative reasoning
- robotic cell
- consistency based diagnosis
- state variables
- control law
- control scheme
- impedance control
- control system
- particle filter
- finite element analysis
- qualitative models
- model based diagnosis
- dynamic model
- scheduling problem
- learning algorithm