On a selftuning decoupling controller for the joint control of a tendon driven multifingered robot gripper.
K. KleinmannR. WackerPublished in: IROS (1994)
Keyphrases
- force control
- robotic cell
- robot manipulators
- impedance control
- control strategy
- position control
- control architecture
- robotic arm
- control system
- closed loop
- central pattern generator
- motion control
- control scheme
- robotic manipulator
- control method
- end effector
- control signals
- control loop
- robotic systems
- contact force
- control law
- trajectory tracking
- wheeled mobile robot
- hand eye calibration
- legged robots
- visual servoing
- biped robot
- optimal control
- hand eye
- vision sensor
- visual feedback
- control algorithm
- pid controller
- autonomous robots
- inverse kinematics
- mobile robot
- robot control
- controller design
- input output
- control structure
- inverted pendulum
- quadruped robot
- fuzzy controller
- position and orientation
- vision system
- adaptive control
- variable structure
- mathematical model
- control strategies
- disturbance rejection
- iterative learning control
- control policy
- guaranteed cost
- sliding mode control
- real time
- nonlinear systems
- control theory