Hybrid impedance and force control for massage system by using humanoid multi-fingered robot hand.
Panya MinyongKeisuke MouriHideo KitagawaTakanori MiyoshiKazuhiko TerashimaPublished in: SMC (2007)
Keyphrases
- force control
- position control
- robot manipulators
- robotic cell
- closed loop
- control strategy
- degrees of freedom
- impedance control
- control scheme
- control law
- end effector
- humanoid robot
- control system
- control architecture
- inverse kinematics
- robot arm
- object manipulation
- motion planning
- control method
- contact force
- dc motor
- neural network