A Palm Circle Task Controller of Contact Juggling for Ball-and-Plate System with 6-DOF Manipulator.
Akira NakashimaTaiga IshiguroNoboru SakamotoPublished in: SICE (2021)
Keyphrases
- robotic manipulator
- contact force
- degrees of freedom
- end effector
- control system
- force feedback
- control scheme
- vision system
- robotic systems
- control method
- robotic arm
- parallel manipulator
- master slave
- trajectory tracking
- position control
- finite element analysis
- robot manipulators
- force control
- visual servoing
- control law
- closed loop
- inverse kinematics
- cross section
- mobile robot
- pose estimation
- real time
- finite element model
- robot arm
- path planning
- bi directional
- joint angles
- control architecture
- motion planning
- control algorithm
- palmprint
- control strategy
- neural network