A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot.
Volker GablerGerold HuberDirk WollherrPublished in: ICRA (2022)
Keyphrases
- end effector
- force feedback
- robotic manipulator
- contact force
- vision system
- manipulation tasks
- robotic arm
- human hand
- degrees of freedom
- position control
- impedance control
- force control
- visual servoing
- visual feedback
- robotic cell
- robot manipulators
- hand eye calibration
- position and orientation
- robot arm
- inverse kinematics
- control law
- closed loop
- real time
- motion planning
- control scheme
- industrial applications
- control system
- force sensing
- tactile sensing
- control algorithm
- object manipulation
- control strategy
- robotic systems
- pid controller
- human robot interaction
- vision sensor
- virtual reality
- mobile robot
- motion control
- optimal control
- computer controlled
- hand gestures
- trajectory tracking
- sliding mode
- joint angles
- robot control
- pose estimation
- robot navigation
- camera motion
- path planning
- dynamic model