Stable contact control of multi-degrees-of-freedom linear manipulator with collision phenomena.
Yasumasa ShojiMakoto InabaToshio FukudaPublished in: IROS (1991)
Keyphrases
- degrees of freedom
- end effector
- robotic arm
- force feedback
- robotic manipulator
- pose estimation
- parallel manipulator
- motion planning
- motion tracking
- path planning
- robot arm
- joint space
- inverse kinematics
- control system
- visual servoing
- configuration space
- position control
- robot manipulators
- articulated hand
- real time
- minimally invasive surgery
- collision avoidance
- control algorithm
- control strategy
- motion analysis
- three dimensional