Inverse dynamics position control of a compliant manipulator.
M. G. Forrest-BarlachScott M. BabcockPublished in: ICRA (1986)
Keyphrases
- inverse dynamics
- position control
- parallel manipulator
- degrees of freedom
- end effector
- robotic manipulator
- control scheme
- force control
- dynamic model
- robot arm
- robot manipulators
- vision system
- visual servoing
- control system
- nonlinear systems
- pose estimation
- closed loop
- inverse kinematics
- control strategies
- motion planning
- control law
- force feedback
- dc motor
- configuration space
- real time
- control strategy
- multiple models
- feedback loop
- pid controller
- path planning
- dynamic environments
- dynamic programming
- computer vision