Dynamic hybrid velocity/force control of robot compliant motion over globally unknown objects.
Ralph E. GoddardYuan F. ZhengHooshang HemamiPublished in: IEEE Trans. Robotics Autom. (1992)
Keyphrases
- force control
- robot manipulators
- position control
- inverse kinematics
- robotic cell
- optical flow
- end effector
- moving objects
- control strategy
- joint angles
- closed loop
- d objects
- camera motion
- position and orientation
- human motion
- impedance control
- real time
- control scheme
- humanoid robot
- dynamic environments
- image sequences
- control architecture
- motion capture
- control law
- mobile robot
- visual data
- multi robot
- robotic systems
- path planning
- motion model
- vision system
- reinforcement learning