Simulation of Sliding Mode Impedance Control for a 6 DOF Anthropomorphic Robot.
Jan F. BroeninkMartijn VisserMartin L. J. TiernegoPublished in: ESM (1998)
Keyphrases
- robot manipulators
- force control
- sliding mode
- impedance control
- end effector
- position control
- robot arm
- control scheme
- control law
- control strategy
- sliding mode control
- inverse kinematics
- robotic manipulator
- motion planning
- variable structure
- manipulation tasks
- path planning
- mobile robot
- real robot
- closed loop
- vision system
- degrees of freedom
- human robot interaction
- multi robot
- real time
- robotic arm
- force feedback
- dynamic model
- robot control
- visual servoing
- pose estimation
- nonlinear systems
- stability analysis
- control strategies
- robot navigation
- position and orientation
- optimal control
- artificial neural networks