Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators.
Zhiquan ZhangTianyu LiNadia FigueroaPublished in: ICRA (2024)
Keyphrases
- robot manipulators
- sliding mode
- force control
- sliding mode control
- control of robot manipulators
- impedance control
- adaptive controller
- inverse kinematics
- control scheme
- end effector
- dynamic model
- trajectory planning
- variable structure
- control strategy
- control theory
- degrees of freedom
- fuzzy logic
- genetic algorithm
- stability analysis
- pid controller
- fuzzy systems
- control method
- experimental data
- clustering algorithm