An Adaptive Manipulator Controller Based on Force and Parameter Estimation.
Mohammad DaneshFarid SheikholeslamMehdi KeshmiriPublished in: IEICE Trans. Fundam. Electron. Commun. Comput. Sci. (2006)
Keyphrases
- parameter estimation
- contact force
- robotic manipulator
- force control
- impedance control
- model selection
- maximum likelihood
- control system
- markov random field
- end effector
- degrees of freedom
- control method
- master slave
- em algorithm
- robot manipulators
- statistical models
- control scheme
- expectation maximization
- closed loop
- parameter estimation algorithm
- posterior distribution
- least squares
- robotic systems
- parameter values
- random fields
- model fitting
- finite element analysis
- trajectory tracking
- maximum likelihood estimation
- control strategy
- approximate inference
- visual servoing
- pid controller
- data mining
- clustering algorithm