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Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit.
Woongyong Lee
Sunkyum Yoo
Seokho Nam
Keehoon Kim
Wan Kyun Chung
Published in:
IEEE Robotics Autom. Lett. (2020)
Keyphrases
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robot manipulators
inverse kinematics
end effector
sliding mode
joint angles
control scheme
control system
variable structure
dynamic model
degrees of freedom
pid controller
control strategy
vision system
dc motor
visual servoing
closed loop
real time