Stability Feature of the Hybrid Position/Force Control Scheme for Robot Manipulator.
Tetsuro YabutaPublished in: IROS (1988)
Keyphrases
- position control
- control scheme
- robot manipulators
- force control
- end effector
- closed loop
- robotic manipulator
- fault tolerant control
- dynamic model
- inverse kinematics
- control strategy
- control system
- control of robot manipulators
- external disturbances
- controller design
- control law
- sliding mode control
- limit cycle
- pid controller
- human arm
- sliding mode
- fuzzy controller
- neural network
- experimental data
- force feedback
- control algorithm
- lyapunov function
- fuzzy logic
- real time