A cascaded-based hybrid position-force control for robot manipulators with nonnegligible dynamics.

Antonio C. Leite Fernando C. Lizarralde Liu Hsu

Published in: ACC (2010)

Keyphrases

robot manipulators
force control
position control
dynamic model
end effector
control scheme
inverse kinematics
joint angles
experimental data
pid controller
fuzzy neural network
real time
global optimization
dynamical systems
control system
force feedback
artificial neural networks
neural network