Independent joint control: Estimation and compensation of coupling and friction effects in robot position control.
R. HuPeter C. MüllerPublished in: J. Intell. Robotic Syst. (1996)
Keyphrases
- position control
- robotic manipulator
- force control
- control system
- control scheme
- closed loop
- control strategies
- end effector
- robot arm
- impedance control
- control strategy
- robot manipulators
- dc motor
- degrees of freedom
- visual servoing
- control architecture
- feedback loop
- robotic systems
- pid controller
- inverse kinematics
- intelligent control
- pid control
- control algorithm
- fuzzy logic
- finite element analysis
- joint angles
- feedback control
- process control
- control law
- dynamic model
- tactile sensing