Direct force and position control using kinematics and dynamics of manipulators in constrained motion.
Takeshi IkedaMamoru MinamiYasushi MaePublished in: IROS (2005)
Keyphrases
- end effector
- position control
- degrees of freedom
- parallel manipulator
- robotic manipulator
- inverse kinematics
- joint angles
- robot arm
- dynamic model
- control scheme
- motion planning
- control law
- robot manipulators
- vision system
- force feedback
- robotic arm
- visual servoing
- closed loop
- force control
- path planning
- impedance control
- pose estimation
- adaptive control
- robotic systems
- control strategy
- dynamical systems
- control system
- configuration space
- position and orientation
- human body
- nonlinear systems
- control strategies
- control algorithm
- image sequences
- humanoid robot
- kinematic model
- tactile sensing