Research on force/position switching control of servo actuator for hydraulically driven joint robot.
Bingwei GaoYongkang WangWenlong HanShilong XuePublished in: Trans. Inst. Meas. Control (2024)
Keyphrases
- position control
- control system
- robotic manipulator
- force control
- degrees of freedom
- control scheme
- end effector
- pid controller
- control loop
- impedance control
- closed loop
- control strategies
- robot manipulators
- robot arm
- control strategy
- dc motor
- electro hydraulic
- control method
- visual servoing
- motion planning
- vision system
- control architecture
- robotic arm
- control law
- motion control
- force feedback
- trajectory tracking
- mobile robot
- tactile sensing
- path planning
- dynamic model
- robotic systems
- manipulation tasks
- inverse kinematics