Dynamics and control of direct-drive robots with positive joint torque feedback.
Farhad AghiliMartin BuehlerJohn M. HollerbachPublished in: ICRA (1997)
Keyphrases
- direct drive
- robotic manipulator
- cnc machine tools
- robotic systems
- position control
- robot control
- feedback loop
- human operators
- dynamic model
- visual servoing
- joint space
- visual feedback
- induction motor
- autonomous robots
- control strategy
- control system
- motion control
- mobile robot
- physical constraints
- dynamical systems
- air fuel ratio
- closed loop
- vision system