Admittance control scheme for implementing model-based assistance-as-needed on a robot.
Marc G. CarmichaelDikai LiuPublished in: EMBC (2013)
Keyphrases
- control scheme
- robot manipulators
- robotic manipulator
- control loop
- closed loop
- force control
- control system
- dynamic model
- position control
- control strategy
- inverse kinematics
- predictive control
- mobile robot
- controller design
- end effector
- control law
- pid controller
- fuzzy controller
- sliding mode
- neural model
- trajectory tracking
- neural network controller
- induction motor
- real time
- human arm
- tracking error
- robotic systems
- vision system
- robot arm
- stability analysis
- force feedback
- fault tolerant control
- path planning
- robot control
- pi control
- human robot interaction
- autonomous robots
- humanoid robot
- multi robot
- artificial neural networks