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Hybrid position/force control of an upper-limb exoskeleton for assisted drilling.
Markus Hessinger
Markus Pingsmann
Joel C. Perry
Roland Werthschützky
Mario Kupnik
Published in:
IROS (2017)
Keyphrases
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position control
force control
robot manipulators
closed loop
control strategy
robotic cell
feedback loop
impedance control
control scheme
robotic manipulator
control strategies
control law
control architecture
control system
dc motor
robot arm
pid controller
dynamic model
virtual reality
dynamic programming