Revised force control using a compliant sensor with a position controlled robot.
Friedrich LangeClaudius JehleMichael SuppaGerd HirzingerPublished in: ICRA (2012)
Keyphrases
- force control
- position control
- robot manipulators
- contact force
- robotic cell
- end effector
- robot moves
- control strategy
- closed loop
- inverse kinematics
- real time
- mobile robot
- finite element analysis
- position and orientation
- control scheme
- dynamic model
- control strategies
- control law
- master slave
- mathematical model
- impedance control
- control architecture
- sensory information
- control algorithm