Adaptive Cartesian Impedance Control System for Flexible Joint robot by using DSP/FPGA Architecture.
Jianbin HuangZongwu XieHong LiuKui SunPublished in: Int. J. Robotics Autom. (2008)
Keyphrases
- control system
- position control
- control architecture
- systolic array
- real time
- signal processing
- digital signal processing
- closed loop
- control scheme
- hardware implementation
- verilog hdl
- real time image processing
- high speed
- data flow
- robotic manipulator
- mobile robot
- parallel architecture
- robotic systems
- digital signal processors
- fpga implementation
- hardware architecture
- real environment
- management system
- dedicated hardware
- motion control
- robotic platform
- control strategy
- hardware design
- robot arm
- pid controller
- control law
- low cost
- fuzzy logic
- pipelined architecture
- dc motor
- wheeled mobile robot
- hardware architectures
- control software
- control algorithm
- control strategies
- robot control
- force control
- low power consumption
- human robot interaction
- visual servoing
- digital signal
- fpga technology
- xilinx virtex
- software implementation
- position and orientation
- learning capabilities
- robot manipulators
- fpga device
- end effector
- autonomous robots
- fuzzy control
- control loop