Whole-body force sensation by force sensor with end-effector of arbitrary shape.
Naoyuki KuritaSho SakainoToshiaki TsujiPublished in: IROS (2012)
Keyphrases
- end effector
- degrees of freedom
- arbitrary shape
- robotic manipulator
- vision system
- force feedback
- robot manipulators
- inverse kinematics
- robot arm
- position control
- impedance control
- visual servoing
- contact force
- real time
- motion planning
- control law
- control scheme
- pose estimation
- computer vision
- configuration space
- high accuracy