Force Coordination Control of Dual-Arm Robot Based on Modified Sliding Mode Impedance Control.
Yina WangXiangling HuangZhongliang LiuJunyou YangKairu LiShuoyu WangPublished in: ICIRA (1) (2022)
Keyphrases
- impedance control
- force control
- robot manipulators
- sliding mode
- control strategy
- position control
- control scheme
- sliding mode control
- manipulation tasks
- control law
- trajectory tracking
- end effector
- closed loop
- variable structure
- inverse kinematics
- dynamic model
- control method
- robotic arm
- control system
- optimal control
- robotic manipulator
- control algorithm
- pid controller
- robot navigation
- control theory
- model free
- stability analysis
- adaptive control
- real time
- robotic systems
- mathematical model
- neural network
- visual servoing
- control strategies
- human robot interaction
- degrees of freedom
- multi modal
- learning algorithm