Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure.
Anthony JubienGabriel AbbaMaxime GautierPublished in: ICINCO (2) (2014)
Keyphrases
- end effector
- position control
- low cost
- degrees of freedom
- robot arm
- vision system
- inverse kinematics
- robot manipulators
- visual servoing
- robotic manipulator
- joint space
- human arm
- joint angles
- force control
- hand eye calibration
- impedance control
- control scheme
- robotic arm
- force feedback
- motion planning
- real time
- mobile robot
- position and orientation
- control law
- dynamic model
- manipulation tasks
- pose estimation
- configuration space
- closed loop
- control system
- neural network
- pid controller
- humanoid robot
- optimal control
- control strategy
- human body
- viewpoint
- computer vision