Toward hybrid force/position control for the Cerberus epicardial robot.
Macauley S. BreaultAdam D. CostanzaNathan A. WoodMichael J. PassineauCameron N. RivierePublished in: EMBC (2015)
Keyphrases
- position control
- force control
- robotic manipulator
- control scheme
- closed loop
- robot arm
- end effector
- control strategies
- control system
- robot manipulators
- deformable models
- degrees of freedom
- dc motor
- impedance control
- feedback loop
- pid controller
- robotic systems
- control strategy
- tactile sensing
- control architecture
- inverse kinematics
- visual servoing
- control law
- position and orientation
- mathematical model
- mobile robot