Extended impedance control of redundant manipulators based on weighted decomposition of joint space.
Yonghwan OhWankyun ChungYoungil YoumPublished in: J. Field Robotics (1998)
Keyphrases
- joint space
- end effector
- impedance control
- degrees of freedom
- inverse kinematics
- robot manipulators
- manipulation tasks
- robot arm
- vision system
- force control
- position control
- path planning
- visual servoing
- robotic manipulator
- configuration space
- humanoid robot
- real time
- optimal control
- motor control
- mobile robot
- genetic algorithm