Control of position, attitude, force and moment of 6-DOF manipulator by impedance control.
Takuya HanafusaQingjiu HuangPublished in: ICARCV (2018)
Keyphrases
- impedance control
- position control
- robotic manipulator
- force control
- end effector
- degrees of freedom
- robot manipulators
- control system
- control scheme
- inverse kinematics
- robot arm
- manipulation tasks
- closed loop
- visual servoing
- control strategy
- robotic systems
- control strategies
- vision system
- robotic arm
- control law
- pid controller
- control architecture
- force feedback
- contact force
- dc motor
- motion planning
- control method
- path planning
- feedback loop
- configuration space
- multiple models
- joint angles