Impedance control of a direct-drive manipulator without using force sensors.
Susumu TachiTaisuke SakakiHirohiko AraiShoichiro NishizawaJose Felipe Pelaez-PoloPublished in: Adv. Robotics (1990)
Keyphrases
- impedance control
- robotic manipulator
- direct drive
- position control
- force control
- contact force
- cnc machine tools
- robot manipulators
- end effector
- control scheme
- degrees of freedom
- robotic systems
- visual servoing
- control strategy
- sensor networks
- model free
- manipulation tasks
- sensor data
- inverse kinematics
- master slave
- control system
- robot arm
- closed loop
- data fusion
- real time
- finite element model
- finite element analysis
- mobile robot
- multi sensor
- image sequences
- vision system
- force feedback
- path planning
- linear model