Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator.
Bill BluethmannS. AnanthakrishnanJ. ScheererT. N. FaddisR. B. GreenwayPublished in: IROS (3) (1995)
Keyphrases
- position control
- master slave
- force control
- contact force
- robotic manipulator
- control scheme
- closed loop
- end effector
- laparoscopic surgery
- degrees of freedom
- robotic arm
- control system
- robot arm
- impedance control
- finite element analysis
- control strategies
- robot manipulators
- feedback loop
- manipulation tasks
- dc motor
- pid controller
- control architecture
- inverse kinematics
- visual servoing
- virtual environment
- robotic systems
- vision system