A unified force control approach to autonomous underwater manipulation.
Yong CuiNilanjan SarkarPublished in: Robotica (2001)
Keyphrases
- force control
- robot manipulators
- control strategy
- closed loop
- robotic cell
- robotic systems
- cooperative
- impedance control
- control architecture
- inverse kinematics
- position control
- real time
- control scheme
- control law
- manipulation tasks
- autonomous underwater vehicles
- contact force
- dynamic model
- multi objective
- neural network