Disturbance Observer Based Force Control of Robot Manipulator without Force Sensor.
Kwang Sik EomIl Hong SuhWan Kyun ChungSang-Rok OhPublished in: ICRA (1998)
Keyphrases
- force control
- robot manipulators
- contact force
- control of robot manipulators
- position control
- inverse kinematics
- impedance control
- control scheme
- end effector
- dynamic model
- master slave
- real time
- pid controller
- control strategy
- force feedback
- fuzzy neural network
- finite element model
- finite element analysis
- multi objective
- genetic algorithm