Joint Space Stiffness and Damping for Cartesian and Null Space Impedance Control of Redundant Robotic Manipulators.
Carlos SaldarriagaNilanjan ChakrabortyImin KaoPublished in: ISRR (2019)
Keyphrases
- robotic manipulator
- impedance control
- end effector
- position control
- degrees of freedom
- robot manipulators
- vision system
- robot arm
- inverse kinematics
- force control
- visual servoing
- dynamic model
- control strategy
- control scheme
- control law
- motion planning
- path planning
- viewpoint
- robotic systems
- configuration space
- mathematical model
- dynamic environments
- multi modal