Impedance control for elastic joints industrial manipulators.
Gianni FerrettiGianAntonio MagnaniPaolo RoccoPublished in: IEEE Trans. Robotics (2004)
Keyphrases
- impedance control
- degrees of freedom
- force control
- contact force
- robotic systems
- optimal control
- model free
- manipulation tasks
- human body
- motion planning
- adaptive control
- end effector
- control law
- human motion
- path planning
- position control
- master slave
- robotic manipulator
- genetic algorithm
- control architecture
- finite element analysis
- robot manipulators
- control strategy