Closed- Loop Kinematic Calibration of the Utah- Mit Hand.

David J. Bennett John M. Hollerbach

Published in: ISER (1989)

Keyphrases

closed loop
open loop
control system
feedback control
control scheme
control law
parameter identification
asymptotic stability
feedback controller
pid controller
inverse kinematics
control loop
disturbance rejection
trajectory tracking
force control
physical constraints
sufficient conditions