Manipulability servoing control in null space for redundant bilateral control system with different degrees of freedom.
Nobuyuki TogashiTomoyuki ShimonoNaoki MotoiPublished in: AMC (2012)
Keyphrases
- degrees of freedom
- control system
- robotic manipulator
- null space
- end effector
- robotic arm
- visual servoing
- control strategy
- motion planning
- pose estimation
- control method
- control law
- path planning
- position control
- joint space
- articulated objects
- control scheme
- closed loop
- control algorithm
- linear discriminant analysis
- discriminant analysis
- real time
- pid controller
- discriminative information
- theoretical guarantees
- small sample size
- dimensionality reduction
- image processing