On the decoupling of position and force controllers in constrained robotic tasks.
Zoe DoulgeriNikolaos FahantidisAvraam KonstantinidisPublished in: J. Field Robotics (1998)
Keyphrases
- robotic tasks
- motion planning
- impedance control
- position control
- end effector
- degrees of freedom
- planning under uncertainty
- robotic systems
- input output
- control law
- control system
- dynamic environments
- force control
- robotic manipulator
- reinforcement learning
- multi modal
- contact force
- robot manipulators
- closed loop
- markov chain