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Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment.
Seul Jung
Tien C. Hsia
Robert G. Bonitz
Published in:
Int. J. Robotics Res. (2001)
Keyphrases
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robot manipulators
force control
impedance control
inverse kinematics
real time
position control
end effector
control scheme
dynamic model
mathematical model
mobile robot
dynamic environments
robotic systems
pid controller