Stability analysis of position and force control problems for robot arms.
John T. WenSteve H. MurphyPublished in: ICRA (1990)
Keyphrases
- stability analysis
- control problems
- end effector
- nonlinear systems
- adaptive control
- control law
- position control
- robot arm
- optimal control
- force control
- control scheme
- stability margin
- position and orientation
- degrees of freedom
- reinforcement learning
- force feedback
- visual servoing
- closed loop
- robotic manipulator
- robot manipulators
- vision system
- control strategy
- mobile robot
- control method
- control system
- pid controller
- sliding mode
- multi robot
- control algorithm
- dynamical systems
- dynamic environments
- least squares
- real time
- stochastic control
- humanoid robot
- dynamic programming
- path planning
- real robot
- pose estimation
- input output