Hybrid position/force control of robot manipulators based on acceleration controller.
Satoshi KomadaKouhei OhnishiTakamasa HoriPublished in: ICRA (1991)
Keyphrases
- position control
- control of robot manipulators
- robot manipulators
- force control
- control scheme
- end effector
- impedance control
- robotic manipulator
- pid controller
- closed loop
- control system
- inverse kinematics
- contact force
- dynamic model
- dc motor
- control strategy
- fuzzy control
- fuzzy controller
- control law
- control strategies
- robotic systems
- force feedback
- control method
- experimental data
- fuzzy logic
- real time