Admittance control of a redundant industrial manipulator without using force/torque sensors.
Dominik KasererHubert GattringerAndreas MüllerPublished in: IECON (2016)
Keyphrases
- contact force
- force feedback
- force control
- master slave
- robotic manipulator
- position control
- force sensing
- control method
- control system
- control scheme
- robotic arm
- end effector
- external forces
- finite element analysis
- robot manipulators
- control algorithm
- degrees of freedom
- computer controlled
- vision system
- data acquisition
- control strategy
- impedance control
- hand eye
- robot assisted
- finite element model
- industrial applications
- real time
- visual servoing
- dynamic model
- visual feedback
- virtual reality
- induction motor
- optimal control
- adaptive control
- mobile robot