mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction.
Florian VoigtAbdeldjallil NaceriSami HaddadinPublished in: IROS (2023)
Keyphrases
- impedance control
- sliding mode
- control system
- real time
- manipulation tasks
- human computer interaction
- closed loop
- user interaction
- trajectory tracking
- control method
- variable structure
- pid controller
- sliding mode control
- robot manipulators
- transmission line
- human robot interaction
- human interaction
- control scheme
- optimal control
- dynamic model
- neural network