New passivity observers for improved robot force control.

Mikael Jorda Ribin Balachandran Jee-Hwan Ryu Oussama Khatib

Published in: IROS (2017)

Keyphrases

force control
impedance control
robot manipulators
robotic cell
closed loop
sliding mode
control strategy
position control
inverse kinematics
end effector
robotic systems
control scheme
contact force
control system
control architecture
control law
dynamic model
mobile robot
dynamic programming