Force control of a non-backdrivable robot without a force sensor.
Zihan ChenPeter KazanzidesPublished in: IROS (2013)
Keyphrases
- force control
- contact force
- robot manipulators
- robotic cell
- position control
- master slave
- impedance control
- finite element analysis
- closed loop
- control strategy
- finite element model
- force feedback
- inverse kinematics
- end effector
- control scheme
- dynamic model
- control architecture
- real time
- control law
- boundary conditions
- artificial neural networks