Hybrid Position and Force Control Without Force Sensor.
Kiyoshi OhishiMasaru MiyazakiMasahiro FujitaPublished in: J. Robotics Mechatronics (1996)
Keyphrases
- position control
- force control
- contact force
- robot manipulators
- closed loop
- robotic cell
- control strategy
- impedance control
- control scheme
- control law
- control system
- robotic manipulator
- master slave
- real time
- robot arm
- inverse kinematics
- end effector
- finite element model
- finite element analysis
- control architecture
- control strategies
- degrees of freedom
- data fusion
- artificial neural networks
- genetic algorithm
- neural network