Minimally Model-Based Trajectory Tracking and Variable Impedance Control of Flexible-Joint Robots.
Emmanouil Spyrakos-PapastavridisJian S. DaiPublished in: IEEE Trans. Ind. Electron. (2021)
Keyphrases
- trajectory tracking
- impedance control
- physical constraints
- closed loop
- manipulation tasks
- model free
- position control
- force control
- control system
- control law
- visual servoing
- mobile robot
- dynamic model
- iterative learning
- multi robot
- robotic systems
- sliding mode
- control method
- bi directional
- optimal control
- human robot interaction
- reinforcement learning
- real robot
- service robots
- stability analysis
- image sequences
- autonomous robots