Cartesian admittance control with on-line gravity and friction observer compensation for elastic joint robots.
Yanlei YeChin-Yin ChenPeng LiGuilin YangChang'an ZhuPublished in: ROBIO (2016)
Keyphrases
- robotic systems
- autonomous robots
- industrial robots
- robot control
- disturbance rejection
- cooperative
- mobile robot
- control system
- multi robot
- control method
- motion control
- control strategy
- elastic matching
- control theory
- model predictive control
- robot behavior
- joint space
- control strategies
- distributed control
- polar coordinates
- autonomous systems
- human operators
- neural network
- degrees of freedom
- fourier transform
- data acquisition
- image sequences