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Design and Force-Tracking Impedance Control of a 2-DOF Wall-Cleaning Manipulator Using Disturbance Observer and Sliding Mode Control.
Taegyun Kim
Sungkeun Yoo
Hwa Soo Kim
JongWon Kim
Published in:
ICRA (2018)
Keyphrases
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sliding mode control
impedance control
force control
robot manipulators
degrees of freedom
robotic manipulator
real time
external disturbances
closed loop
neural network
position control
path planning
inverse kinematics
end effector