An Intelligent Indirect-Hybrid Force/Position Controller for Smooth and Accurate Tracking of Unknown Contours.
Kamal SharmaVarsha ShirwalkarPrabir K. PalPublished in: AIR (2013)
Keyphrases
- position control
- control scheme
- robotic manipulator
- closed loop
- control system
- force control
- real time
- impedance control
- external disturbances
- position estimation
- tracking error
- particle filter
- pid controller
- end effector
- control strategies
- reference trajectory
- visual tracking
- dc motor
- robot manipulators
- three dimensional
- position information
- robot arm
- active contours
- kalman filter
- particle filtering
- controller design
- deformable contour
- control architecture
- control law
- position and orientation
- trajectory tracking
- precise localization
- optimal control
- joint angles
- degrees of freedom
- appearance model
- motion model
- object tracking