Adaptive Motion/Force Control of Mobile Under-Actuated Manipulators With Dynamics Uncertainties by Dynamic Coupling and Output Feedback.
Zhijun LiYipeng YangJianxun LiPublished in: IEEE Trans. Control. Syst. Technol. (2010)
Keyphrases
- force control
- control law
- tracking error
- closed loop
- robot manipulators
- adaptive control
- desired trajectory
- control strategy
- motion planning
- control scheme
- control system
- dynamical systems
- inverse kinematics
- nonlinear systems
- contact force
- robotic cell
- end effector
- dynamic model
- dynamic environments
- parallel manipulator
- single input single output
- real time
- visual servoing
- control algorithm
- image sequences
- feedback loop
- position control
- optical flow
- moving objects
- position tracking
- impedance control
- control structure
- joint angles
- control parameters
- numerical simulations
- camera motion