Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots.
Xuming MengManuel KepplerChristian OttPublished in: IEEE Control. Syst. Lett. (2023)
Keyphrases
- tracking control
- impedance control
- nonlinear systems
- humanoid robot
- control law
- manipulation tasks
- end effector
- motion planning
- image sequences
- mobile robot
- optical flow
- multi robot
- human motion
- position control
- adaptive neural
- fuzzy model
- motion model
- autonomous robots
- tracking error
- force control
- robotic systems
- robust tracking
- degrees of freedom
- controller design
- robot manipulators
- closed loop