Motion Tasks and Force Control for Robot Manipulators on Embedded 2-D Manifolds.

Xanthi S. Papageorgiou Savvas G. Loizou Kostas J. Kyriakopoulos

Published in: ICRA (2007)

Keyphrases

robot manipulators
force control
inverse kinematics
end effector
control scheme
dynamic model
impedance control
pid controller
optimization algorithm
closed loop
force feedback