Decentralized adaptive force/position control of reconfigurable manipulator based on soft sensors.
Yanli DuQuanmin ZhuPublished in: J. Syst. Control. Eng. (2018)
Keyphrases
- position control
- robotic manipulator
- force control
- end effector
- degrees of freedom
- control system
- control scheme
- robot manipulators
- contact force
- closed loop
- robot arm
- inverse kinematics
- impedance control
- real time
- control strategy
- tactile sensing
- robotic systems
- vision system
- visual servoing
- pid controller
- multiple models
- feedback loop
- dc motor
- computer vision
- control strategies
- control method
- data fusion
- control architecture
- motion planning
- dynamic model