Position and Force Control of Multi-fingered Robot Hand and Its Application to Massage Motion.
Panya MinyongTakanori MiyoshiKazuhiko TerashimaHideo KitagawaPublished in: Robotics and Applications (2003)
Keyphrases
- force control
- robot manipulators
- end effector
- inverse kinematics
- position control
- robotic cell
- position and orientation
- control scheme
- robotic manipulator
- closed loop
- joint angles
- dynamic model
- control strategy
- impedance control
- force feedback
- robot moves
- degrees of freedom
- pid controller
- image sequences
- control law
- robotic arm
- manipulation tasks
- camera motion
- mobile robot
- robot arm
- humanoid robot
- control system
- real time
- optical flow
- vision system
- hand gestures
- visual servoing
- motion planning
- fuzzy neural network