A Position/Force Control for a Soft Tip Robot Finger under Kinematic Uncertainties.
Zoe DoulgeriA. SimeonidisSuguru ArimotoPublished in: ICRA (2000)
Keyphrases
- force control
- robot manipulators
- end effector
- inverse kinematics
- position and orientation
- position control
- robotic cell
- contact force
- force feedback
- control scheme
- robotic manipulator
- joint angles
- manipulation tasks
- dynamic model
- degrees of freedom
- control strategy
- closed loop
- vision system
- robot arm
- mobile robot
- pose estimation
- pid controller
- control system
- robotic arm
- control law
- control architecture
- real time
- neural network