A passivity based control signal guaranteeing joint limit avoidance in redundant robots.
Dimitrios PapageorgiouAbdelrahem AtawnihZoe DoulgeriPublished in: MED (2016)
Keyphrases
- robotic systems
- autonomous systems
- robot control
- impedance control
- mobile robot
- industrial robots
- control signals
- autonomous robots
- motion control
- control method
- cooperative
- manipulation tasks
- human operators
- control system
- distributed control
- signal processing
- sliding mode
- formation control
- humanoid robot
- legged robots
- control strategy
- inverted pendulum
- service robots
- signal detection
- frequency domain