Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics".
Andrea Del PreteFrancesco NoriGiorgio MettaLorenzo NatalePublished in: CoRR (2014)
Keyphrases
- inverse dynamics
- force control
- nonlinear systems
- control law
- parallel manipulator
- robot manipulators
- closed loop
- control strategy
- autonomous robots
- inverse kinematics
- mobile robot
- adaptive control
- motion planning
- dynamic model
- control system
- control scheme
- control algorithm
- robotic systems
- multi robot
- real robot
- control architecture
- end effector
- impedance control
- manipulation tasks
- degrees of freedom
- dynamical systems