A robustness bound of computed torque linearization for control of a manipulator in contact task.
Sang-Moo LeePublished in: ICRA (1997)
Keyphrases
- contact force
- control method
- control system
- control algorithm
- robot manipulators
- master slave
- force control
- control strategy
- induction motor
- upper bound
- robotic arm
- computer controlled
- force feedback
- end effector
- adaptive control
- external forces
- inverse kinematics
- degrees of freedom
- vision system
- worst case
- hand eye
- control theory
- real time
- process control
- optimal control
- lower bound