A new impedance control concept for elastic joint robots -a case of a 1 DOF robot with programmable linear passive impedance.
Ryuta OzawaHiroaki KobayashiPublished in: ICRA (2003)
Keyphrases
- position control
- impedance control
- force control
- robotic manipulator
- control scheme
- robotic systems
- manipulation tasks
- closed loop
- control system
- robot arm
- end effector
- control strategies
- mobile robot
- degrees of freedom
- multi robot
- robot manipulators
- human robot interaction
- control architecture
- feedback loop
- dc motor
- autonomous robots
- pid controller
- motion planning
- humanoid robot
- visual servoing
- control strategy
- robot control
- parallel robot
- robotic arm
- computer vision
- service robots
- function approximation
- dynamic model
- fuzzy neural network
- robot navigation
- path planning
- genetic algorithm
- control law