Decoupling force and position control in constrained motion with friction.
Giorgio BartoliniElisabetta PuntaPublished 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