Modeling and instrumentation for position and torque control of a 4DOF force-feedback device.
Mohamed GuiatniAbdelkrim AbaneAbderrahmane KheddarPublished in: SMC (2010)
Keyphrases
- force feedback
- end effector
- degrees of freedom
- position control
- robot manipulators
- robotic manipulator
- inverse kinematics
- robotic arm
- contact force
- vision system
- robot arm
- visual servoing
- force sensing
- control scheme
- virtual reality
- haptic device
- visual feedback
- control law
- position and orientation
- motion planning
- dynamic model
- joint angles
- closed loop
- human operators
- induction motor
- three dimensional
- control strategies
- robotic systems
- pose estimation
- mobile robot
- control system