Unified impedance and hybrid force-position controller with kinestatic filtering.
Antonio Gonzales MarinRoman WeitschatPublished in: IROS (2016)
Keyphrases
- position control
- robotic manipulator
- control scheme
- closed loop
- impedance control
- force control
- control system
- pid controller
- dc motor
- control strategies
- control architecture
- end effector
- robot arm
- control strategy
- degrees of freedom
- control law
- visual servoing
- robot manipulators
- filtering algorithm
- control algorithm
- robotic systems
- adaptive filtering
- control method
- controller design
- vision system
- sufficient conditions
- feedback loop
- pid control
- feedback control
- dynamic model
- information filtering
- real time
- neural network controller
- neural network