Cascade Position and Force Control via Saturation and a Compensator for Switching.
Minoru YokoyamaSatoru NakamuraTomoyuki ShimonoPublished in: AMC (2024)
Keyphrases
- force control
- position control
- control scheme
- robot manipulators
- control strategy
- closed loop
- dead zone
- control law
- nonlinear systems
- end effector
- robotic cell
- impedance control
- neural network
- operating conditions
- position and orientation
- control architecture
- control system
- computer vision
- inverse kinematics
- pid controller