A smooth position-force controller for asbestos removal manipulator.
Kamal Mohy El DineJuan Antonio Corrales RamonYoucef MezouarJean-Christophe FaurouxPublished in: ROBIO (2017)
Keyphrases
- robotic manipulator
- end effector
- position control
- contact force
- force control
- degrees of freedom
- impedance control
- control system
- robot manipulators
- inverse kinematics
- control scheme
- control law
- control method
- closed loop
- vision system
- visual servoing
- robot arm
- control strategy
- force feedback
- pid controller
- dynamic model
- position and orientation
- controller design
- computer vision
- robotic arm
- trajectory tracking
- information flow
- robotic systems
- control architecture
- control strategies
- master slave
- finite element model
- position information
- adaptive control
- motion planning
- fuzzy controller
- control algorithm
- sliding mode control
- sliding mode
- path planning
- reinforcement learning
- real time