Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles.
Barkan UgurluPaolo ForniCorinne DoppmannEmre SariyildizJun MorimotoPublished in: IEEE Trans. Ind. Informatics (2019)
Keyphrases
- position control
- force control
- degrees of freedom
- end effector
- impedance control
- robot manipulators
- contact force
- robotic manipulator
- robot arm
- control system
- control strategy
- closed loop
- control scheme
- control strategies
- human arm
- robotic arm
- motion planning
- joint angles
- force feedback
- pose estimation
- inverse kinematics
- master slave
- control law
- manipulation tasks
- position and orientation
- feedback loop
- pid control
- finite element analysis
- human hand
- tactile sensing
- autonomous robots
- pid controller
- real time
- mobile robot
- robot moves
- control architecture