A force commanded impedance control scheme for robots with hard nonlinearities.
Julio J. GonzalezGlenn R. WidmannPublished in: IEEE Trans. Control. Syst. Technol. (1995)
Keyphrases
- position control
- control scheme
- closed loop
- robotic manipulator
- dynamic model
- control system
- control strategy
- control law
- controller design
- predictive control
- robotic systems
- pid controller
- mobile robot
- robot manipulators
- neural model
- fuzzy controller
- multi robot
- force control
- sliding mode
- neural network controller
- fault tolerant control
- humanoid robot
- induction motor
- feedback control
- physical constraints
- pi controller
- nonlinear functions
- nonlinear systems
- control loop
- control strategies
- control algorithm
- experimental data
- real time