Force control on antagonistic Twist-drive Actuator robot.

Takahiro Inoue Ryuichi Miyata Shinichi Hirai

Published in: IROS (2016)

Keyphrases

force control
closed loop
position control
robot manipulators
robotic cell
control strategy
control system
control law
control scheme
impedance control
control method
control architecture
inverse kinematics
pid controller
computer vision
dc motor
dynamic model
contact force
vision system