The precise control of manipulators with high joint-friction using base force/torque sensing.
Guillaume MorelKarl IagnemmaSteven DubowskyPublished in: Autom. (2000)
Keyphrases
- position control
- robotic manipulator
- external forces
- closed loop
- force control
- control scheme
- contact force
- impedance control
- disturbance rejection
- induction motor
- control strategy
- control system
- robotic systems
- adaptive control
- master slave
- degrees of freedom
- control law
- control strategies
- wide range
- feedback loop
- control method
- control theory
- dynamic model
- data acquisition
- robot arm
- intelligent control
- control architecture
- path planning
- finite element analysis
- robot manipulators
- real time
- control algorithm
- parallel manipulator
- fuzzy logic control
- mobile robot
- sagittal plane