Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing.
Hanafiah B. YussofMasahiro OhkaJumpei TakataYasuo NasuMitsuhiro YamanoPublished in: ICRA (2008)
Keyphrases
- control scheme
- tactile sensing
- position control
- robotic manipulator
- closed loop
- robot manipulators
- control system
- control strategy
- dynamic model
- force control
- control law
- pid controller
- control loop
- controller design
- fuzzy controller
- control algorithm
- real time
- dc motor
- quasi static
- end effector
- operating conditions
- tracking error
- sliding mode
- inverse kinematics
- robot arm
- visual servoing
- minimally invasive
- control method
- degrees of freedom
- object tracking
- mathematical model
- mobile robot
- video sequences