Experimental verification of antagonistic stiffness planning for a planar parallel mechanism with 2-DOF force redundancy.
Sungcheul LeeSitai KimWoosung InMoonki KimJay il JeongJongWon KimPublished in: Robotica (2011)
Keyphrases
- experimental verification
- position control
- robotic manipulator
- motion planning
- control scheme
- degrees of freedom
- heuristic search
- planning problems
- robot arm
- end effector
- parallel processing
- impedance control
- force control
- contact force
- state space
- control system
- action selection mechanism
- feedback loop
- control strategies
- massively parallel
- shared memory
- closed loop
- parallel computing
- pose estimation
- real time