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Noncollocated Position Control of Tendon-Sheath Actuated Slender Manipulator.
Xingsong Wang
Qi Zhang
Xiaopeng Shen
Jia Li
Published in:
IEEE Trans. Control. Syst. Technol. (2020)
Keyphrases
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force control
position control
robot manipulators
closed loop
control strategy
control scheme
control law
inverse kinematics
end effector
contact force
control algorithm
dynamic model
control system
mathematical model
control architecture