Hierarchical control of end-point impedance and joint impedance for redundant manipulators.
Toshio TsujiAchmad JazidieMakoto KanekoPublished in: IEEE Trans. Syst. Man Cybern. Part A (1999)
Keyphrases
- endpoints
- position control
- control system
- robotic manipulator
- end effector
- optimal control
- force control
- control scheme
- robot arm
- control strategy
- inverse kinematics
- transmission line
- real time
- path planning
- single valued
- degrees of freedom
- closed loop
- hierarchical clustering
- visual servoing
- hierarchical model
- robot manipulators
- control strategies
- adaptive control
- vision system
- waveguide