Nonlinear decoupling for position and force control of constrained robots with flexible joints.
Krzysztof P. JankowskiHoda A. ElMaraghyPublished in: ICRA (1991)
Keyphrases
- force control
- position control
- robot manipulators
- contact force
- end effector
- closed loop
- control strategy
- robotic cell
- parallel robot
- mobile robot
- manipulation tasks
- impedance control
- multi robot
- inverse kinematics
- robotic systems
- input output
- joint angles
- humanoid robot
- autonomous robots
- human motion
- degrees of freedom
- control law
- human robot interaction
- control scheme
- human body
- control system