Neural force/position control in Cartesian space for a 6DOF industrial robot: concept and first results.
R. MaassVolker ZahnRolf EckmillerPublished in: ICNN (1997)
Keyphrases
- position control
- robotic manipulator
- force control
- control scheme
- closed loop
- end effector
- robot arm
- control system
- control strategies
- degrees of freedom
- feedback loop
- robot manipulators
- neural network
- dc motor
- impedance control
- pid controller
- control architecture
- control law
- robotic systems
- control strategy
- motion planning
- vision system
- visual servoing
- robotic arm
- tactile sensing
- configuration space
- control method
- dynamic model