Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments.
Torsten KrögerBernd FinkemeyerMarkus HeuckFriedrich M. WahlPublished in: IROS (2004)
Keyphrases
- adaptive control
- end effector
- sagittal plane
- degrees of freedom
- robot motion
- position control
- motion control
- control method
- parallel manipulator
- position and orientation
- master slave
- robotic manipulator
- pose estimation
- optical flow
- motion planning
- joint angles
- image sequences
- robotic systems
- control signals
- motion analysis
- three dimensional
- articulated objects
- impedance control
- rigid objects
- human motion
- path planning
- space time
- visual servoing
- motion tracking
- moving objects
- force feedback
- motion parameters
- control strategy
- initial position
- motion model
- force sensing
- motion estimation