A passivity-based approach to force regulation and motion control of robot manipulators.
Bruno SicilianoLuigi VillaniPublished in: Autom. (1996)
Keyphrases
- control of robot manipulators
- robot manipulators
- end effector
- impedance control
- force control
- sliding mode
- inverse kinematics
- image sequences
- motion analysis
- optical flow
- camera motion
- sagittal plane
- human motion
- control scheme
- neural network
- space time
- moving objects
- motion planning
- motion model
- motion estimation
- genetic algorithm
- position control