Position/force decoupled bilateral communication without force controller in slave side by using multirate control.
Sho SakainoToshiaki TsujiPublished in: AMC (2014)
Keyphrases
- impedance control
- position control
- robotic manipulator
- contact force
- force control
- control system
- master slave
- control scheme
- closed loop
- end effector
- force feedback
- control strategy
- control strategies
- optimal control
- distributed control
- control architecture
- degrees of freedom
- controller design
- robot arm
- shape memory alloy
- robotic systems
- control method
- visual servoing
- real time
- disturbance rejection
- adaptive control
- control law
- dc motor
- data acquisition
- robot manipulators
- force sensing
- feedback control
- control theory
- control algorithm
- joint angles
- vision system
- mobile robot