Position Control of a Velocity Controlled Robot with Compliant End Effector Using Modal Decoupling.
Dirk TorfsJoris De SchutterPublished in: ICRA (1995)
Keyphrases
- end effector
- position control
- degrees of freedom
- robot arm
- robotic manipulator
- robot manipulators
- vision system
- joint angles
- inverse kinematics
- visual servoing
- force feedback
- force control
- manipulation tasks
- input output
- control scheme
- impedance control
- control law
- closed loop
- robotic arm
- position and orientation
- human body
- mobile robot
- optical flow
- dynamic model
- control system
- real time
- camera motion
- pose estimation
- multi modal