Force position control for a robot finger with a soft tip and kinematic uncertainties.
Zoe DoulgeriYiannis KarayiannidisPublished in: Robotics Auton. Syst. (2007)
Keyphrases
- position control
- end effector
- degrees of freedom
- inverse kinematics
- robotic manipulator
- robot arm
- position and orientation
- force control
- robot manipulators
- control scheme
- vision system
- visual servoing
- closed loop
- control system
- impedance control
- force feedback
- contact force
- control strategies
- control law
- pose estimation
- joint angles
- robotic arm
- parallel robot
- dc motor
- feedback loop
- pid controller
- motion planning
- nonlinear systems
- neural network
- configuration space
- manipulation tasks
- dynamic model
- humanoid robot
- bp neural network
- tactile sensing
- genetic algorithm