Decoupling force and position control in constrained motion with friction.

Giorgio Bartolini Elisabetta Punta

Published in: CDC (2003)

Keyphrases

position control
end effector
control scheme
robotic manipulator
force control
degrees of freedom
robot arm
closed loop
inverse kinematics
control system

control strategies
motion planning
robot manipulators
feedback loop
impedance control
vision system
motion estimation
motion model
image sequences
pid controller

dc motor
optical flow
real time
tactile sensing
camera motion
control strategy
control law
moving objects
configuration space

computer vision
motion capture
human motion
humanoid robot
dynamic model
mathematical model
visual servoing
control architecture
genetic algorithm