Motion control of a robot arm using joint torque sensors.
Kazuhiro KosugeH. TakeuchiKatsuhisa FurutaPublished in: IEEE Trans. Robotics Autom. (1990)
Keyphrases
- robot arm
- motion control
- position control
- mobile robot
- motion planning
- control system
- real robot
- control algorithm
- control law
- control strategies
- kinematic model
- control strategy
- physical constraints
- real time
- control scheme
- end effector
- autonomous robots
- inverse kinematics
- autonomous navigation
- robot control
- nonlinear systems
- visual servoing
- joint angles
- path planning
- closed loop
- contact force
- degrees of freedom
- computer vision
- genetic algorithm
- robotic systems
- multi modal
- position and orientation
- neural network
- fuzzy control
- control method
- humanoid robot
- dynamic model
- fuzzy logic
- three dimensional