Aerial Manipulator Force Control Using Control Barrier Functions.
Dimitris ChaikalisVinícius GonçalvesAnthony TzesFarshad KhorramiPublished in: CoRR (2023)
Keyphrases
- force control
- robot manipulators
- control strategy
- impedance control
- closed loop
- robotic cell
- position control
- control system
- control architecture
- control law
- inverse kinematics
- control scheme
- control method
- control structure
- control algorithm
- contact force
- dynamic model
- mathematical model
- control strategies
- optimal control
- robotic systems
- numerical simulations