Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
Chien-Chern CheahSadao KawamuraSuguru ArimotoPublished in: Autom. (2003)
Keyphrases
- position control
- robotic manipulator
- force control
- end effector
- robot manipulators
- dynamic model
- inverse kinematics
- control scheme
- degrees of freedom
- visual servoing
- robot arm
- vision system
- closed loop
- joint angles
- dynamical systems
- robotic systems
- control strategy
- control law
- pid controller
- motion planning
- control system
- multiple models
- control strategies
- neural network
- force feedback
- mathematical model