Motion and force control of cooperative robotic manipulators with passive joints.
Renato TinósMarco H. TerraJoão Yoshiyuki IshiharaPublished in: IEEE Trans. Control. Syst. Technol. (2006)
Keyphrases
- force control
- robotic manipulator
- end effector
- robot manipulators
- position control
- degrees of freedom
- inverse kinematics
- control scheme
- joint angles
- human motion
- control law
- closed loop
- contact force
- motion planning
- control strategy
- dynamic model
- visual servoing
- robotic systems
- force feedback
- robotic arm
- image sequences
- robot arm
- control system
- human body
- vision system
- configuration space
- optical flow
- camera motion
- control architecture
- motion capture
- pid controller
- reference frame
- visual data
- mathematical model
- least squares