Joint space torque controller based on time-delay control with collision detection.
Sung-moon HurSang-Rok OhYonghwan OhPublished in: IROS (2014)
Keyphrases
- joint space
- collision detection
- control strategy
- control system
- networked control systems
- degrees of freedom
- end effector
- control method
- virtual environment
- control algorithm
- computer graphics
- optimal control
- humanoid robot
- robotic manipulator
- adaptive control
- fuzzy logic control
- control strategies
- induction motor
- control scheme
- fuzzy logic controller
- robot manipulators
- motor control
- robot arm
- bounding box
- rigid body
- control law
- real time
- dynamic model
- closed loop
- vision system
- mobile robot
- viewpoint
- deformable objects
- visual servoing
- pid controller
- inverse kinematics
- pose estimation
- d objects
- optical flow