Invariant Hybrid Force/Position Control of a Velocity Controlled Robot with Compliant End Effector Using Modal Decoupling.
Joris De SchutterDirk TorfsHerman BruyninckxStefan DutréPublished in: Int. J. Robotics Res. (1997)
Keyphrases
- position control
- end effector
- degrees of freedom
- robot arm
- robotic manipulator
- robot manipulators
- vision system
- inverse kinematics
- joint angles
- force control
- visual servoing
- force feedback
- control scheme
- manipulation tasks
- impedance control
- closed loop
- robotic arm
- position and orientation
- input output
- control system
- motion planning
- feedback loop
- human body
- control law
- configuration space
- computer vision
- pid controller
- dynamic model
- dynamical systems
- pose estimation
- optical flow