Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers.
Takuto FujikiKenji TaharaPublished in: ICRA (2021)
Keyphrases
- numerical simulations
- neural network controller
- impedance control
- position control
- control system
- force control
- robotic manipulator
- control scheme
- controller design
- theoretical analysis
- contact force
- closed loop
- control law
- lyapunov stability theory
- optimal control
- control strategies
- control strategy
- finite element model
- pid controller
- dc motor
- robot arm
- computational fluid dynamics
- fuzzy pid
- robot manipulators
- control architecture
- control algorithm
- sliding mode
- tracking control
- simulation data
- adaptive control
- proportional integral derivative
- neural network