Constrained motion (force/position) control of flexible joint robots.
Shaheen AhmadPublished in: IEEE Trans. Syst. Man Cybern. (1993)
Keyphrases
- position control
- end effector
- tactile sensing
- robot arm
- manipulation tasks
- robotic manipulator
- control scheme
- force control
- motion planning
- inverse kinematics
- closed loop
- degrees of freedom
- humanoid robot
- control strategies
- control system
- robot manipulators
- mobile robot
- robotic systems
- visual servoing
- vision system
- image sequences
- impedance control
- motion estimation
- pid controller
- control strategy
- feedback loop
- multi robot
- control law
- human motion
- camera motion
- force feedback
- motion model
- moving objects
- position and orientation
- dc motor
- collision free
- quasi static
- control architecture
- motion capture
- real time
- minimally invasive
- real robot