Hybrid model-based force/position control: theory and experimental verification.
Rafael OsypiukBernd FinkemeyerPublished in: Robotica (2006)
Keyphrases
- control theory
- experimental verification
- position control
- control law
- closed loop
- force control
- control scheme
- dynamical systems
- robotic manipulator
- control system
- differential equations
- linear systems
- variable structure
- end effector
- communication delays
- control strategy
- networked control systems
- humanoid robot
- adaptive control
- degrees of freedom
- pid controller
- image enhancement
- computer vision