Manipulator Equipped With Differential Wrist Mechanism to Combine the Torque of Two Motors to Increase Fingertip Force and Wrist Torque.
Yuanhao BaoTakeshi TakakiPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- position control
- robotic manipulator
- force control
- end effector
- control scheme
- control system
- degrees of freedom
- robot manipulators
- closed loop
- control strategies
- robot arm
- dc motor
- vision system
- contact force
- inverse kinematics
- feedback loop
- control strategy
- control law
- pid controller
- visual servoing
- induction motor
- data sets
- force feedback
- dynamic model
- fuzzy logic
- robotic arm
- video sequences
- real time
- neural network