Multibehavioral position-force manipulator controller.
Tomasz WiniarskiKonrad BanachowiczMichal WaleckiJonathan BohrenPublished in: MMAR (2016)
Keyphrases
- robotic manipulator
- position control
- end effector
- contact force
- force control
- impedance control
- degrees of freedom
- robot manipulators
- control system
- control scheme
- inverse kinematics
- vision system
- closed loop
- robot arm
- control law
- control method
- visual servoing
- real time
- pid controller
- control strategy
- force feedback
- human arm
- dynamic model
- master slave
- neural network
- pose estimation
- finite element analysis
- control strategies
- position and orientation
- joint angles
- optimal control
- control algorithm
- mathematical model
- sliding mode control
- computer vision
- motion planning