Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics".
Andrea Del PreteFrancesco NoriGiorgio MettaLorenzo NatalePublished in: Robotics Auton. Syst. (2015)
Keyphrases
- inverse dynamics
- force control
- nonlinear systems
- control law
- parallel manipulator
- robot manipulators
- closed loop
- autonomous robots
- control strategy
- inverse kinematics
- mobile robot
- humanoid robot
- control scheme
- dynamical systems
- adaptive control
- motion planning
- control algorithm
- robot arm
- control parameters
- motion capture
- neural network
- dynamic model
- control system
- end effector
- image sequences
- three dimensional
- computer vision