Sensorless Hybrid Normal-Force Controller With Surface Prediction.
Yingjie QianJianjun YuanSheng BaoLiming GaoPublished in: ROBIO (2019)
Keyphrases
- control algorithm
- position control
- robotic manipulator
- prediction accuracy
- three dimensional
- force control
- closed loop
- surface reconstruction
- liquid state machine
- impedance control
- prediction error
- control system
- prediction model
- contact force
- prediction algorithm
- neural network
- real time
- pid controller
- fuzzy controller
- control scheme
- tactile sensing
- body mass index
- surface model
- control method
- fuzzy pid
- d objects