Stable contact force control of a link manipulator with collision phenomena.

Yasumasa Shoji Makoto Inaba Toshio Fukuda Hidemi Hosokai

Published in: IROS (1990)

Keyphrases

force control
contact force
robot manipulators
control strategy
robotic cell
closed loop
master slave
impedance control
finite element analysis
collision avoidance
inverse kinematics
position control
force feedback
artificial neural networks
end effector
control law
pid controller
control scheme