A Dynamic Adaptive Impedance Controller for Force Tracking of Dual-arm Manipulators in Uncertain Contact Environment.
Xiaogang SongHuan MaoHailin HuangWenfu XuBing LiPublished in: ROBIO (2021)
Keyphrases
- contact force
- adaptive control
- dynamic environments
- real time
- master slave
- force control
- tactile sensing
- position control
- tracking error
- control law
- finite element analysis
- mobile robot
- appearance model
- decision making
- single input single output
- force feedback
- dynamically updated
- control architecture
- changing environment
- robotic systems
- path planning
- finite element model
- robust stability
- linear predictors
- nonlinear systems
- robotic manipulator
- control scheme
- kalman filter
- particle filter
- control system