An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control.
Alexander ToedtheideJohannes KühnEdmundo Pozo FortunicSami HaddadinPublished in: HUMANOIDS (2021)
Keyphrases
- position control
- force control
- building blocks
- robotic manipulator
- impedance control
- control system
- modeling tool
- real time control
- control structure
- end effector
- design methodology
- data acquisition
- neural network
- robot manipulators
- control method
- computer controlled
- engineering design
- degrees of freedom
- closed loop
- high level synthesis
- case study