A position/force control for a robot finger with soft tip and uncertain kinematics.
Zoe DoulgeriSuguru ArimotoPublished in: J. Field Robotics (2002)
Keyphrases
- force control
- robot manipulators
- end effector
- inverse kinematics
- position control
- position and orientation
- robotic cell
- contact force
- joint angles
- control scheme
- force feedback
- dynamic model
- robotic manipulator
- closed loop
- control strategy
- control law
- manipulation tasks
- robotic arm
- pid controller
- degrees of freedom
- impedance control
- control system
- robot arm
- visual servoing
- neural network
- fuzzy neural network
- experimental data