Acceleration-based force-impedance control of a six-dof parallel manipulator.
António M. LopesFernando G. AlmeidaPublished in: Ind. Robot (2007)
Keyphrases
- impedance control
- parallel manipulator
- degrees of freedom
- end effector
- position control
- force control
- manipulation tasks
- robotic manipulator
- robot manipulators
- robot arm
- control scheme
- motion planning
- dynamic model
- contact force
- model free
- pose estimation
- vision system
- force feedback
- inverse kinematics
- optimal control
- visual servoing
- control system
- robotic arm
- closed loop
- configuration space
- path planning
- feedback loop
- reinforcement learning
- motor control
- control law