Variable impedance control with an artificial muscle manipulator using instantaneous force and MR brake.
Hiroki TomoriSuguru NagaiTatsuo MajimaTaro NakamuraPublished in: IROS (2013)
Keyphrases
- impedance control
- force control
- robot manipulators
- end effector
- position control
- motor control
- control strategy
- closed loop
- optimal control
- mathematical model
- contact force
- manipulation tasks
- model free
- control law
- degrees of freedom
- real world
- inverse kinematics
- dynamic model
- control scheme
- control system
- robotic manipulator
- vision system
- control architecture
- master slave
- mobile robot
- machine learning