Hybrid Force-Impedance Control for Fast End-Effector Motions.
Maged IskandarChristian OttAlin Albu-SchäfferBruno SicilianoAlexander DietrichPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- impedance control
- position control
- end effector
- degrees of freedom
- force control
- robotic manipulator
- robot arm
- robot manipulators
- vision system
- inverse kinematics
- control scheme
- visual servoing
- joint angles
- closed loop
- configuration space
- control strategies
- manipulation tasks
- control system
- force feedback
- feedback loop
- video sequences
- model free
- robotic arm
- optimal control
- mobile robot
- human motion
- dc motor
- optical flow
- image sequences
- control architecture
- learning algorithm
- pid controller