Implicit force control for an industrial robot based on stiffness estimation and compensation during motion.
Roberto RossiLuca FossaliAlberto NovazziLuca BascettaPaolo RoccoPublished in: ICRA (2016)
Keyphrases
- force control
- robot manipulators
- impedance control
- position control
- inverse kinematics
- robotic cell
- end effector
- closed loop
- control strategy
- contact force
- humanoid robot
- control scheme
- image sequences
- motion planning
- optical flow
- control law
- manipulation tasks
- robot arm
- camera motion
- control architecture
- moving objects
- position and orientation
- degrees of freedom
- pid controller
- motion capture
- visual servoing
- control method
- mobile robot
- real time