Implementation of a discontinuous control law on a robot during collision with a stiff environment.
David M. LokhorstJames K. MillsPublished in: ICRA (1990)
Keyphrases
- control law
- autonomous robots
- mobile robot
- visual servoing
- motion planning
- real robot
- closed loop
- force control
- adaptive control
- control algorithm
- trajectory tracking
- robotic systems
- control system
- robot control
- real time
- nonlinear systems
- end effector
- control theory
- control strategy
- vision system
- humanoid robot
- sliding mode
- path planning
- optimal control
- control scheme
- dynamic environments
- robot manipulators
- human operators
- lyapunov function
- least squares
- stability margin
- flight control