Link motion feedback based force/torque servo control of robot joint with series elasticity.
Sunkyum YooWan Kyun ChungPublished in: URAI (2015)
Keyphrases
- position control
- end effector
- degrees of freedom
- robotic manipulator
- control loop
- sagittal plane
- control scheme
- joint space
- control system
- robot arm
- force control
- robot manipulators
- motion control
- visual servoing
- feedback loop
- motion planning
- inverse kinematics
- closed loop
- vision system
- impedance control
- visual feedback
- force feedback
- control strategy
- joint angles
- control strategies
- robotic arm
- pid controller
- hand eye calibration
- mobile robot
- control signals
- robot motion
- control law
- pose estimation
- configuration space
- kinematic model
- humanoid robot
- path planning
- control algorithm
- contact force
- robot control
- control method
- manipulation tasks
- motion estimation
- camera motion
- fuzzy control
- master slave
- autonomous navigation
- tracking error
- gesture recognition
- position and orientation
- dynamic model
- motion analysis
- adaptive control
- control architecture
- desired trajectory
- induction motor