Estimating robot end-effector force from noisy actuator torque measurements.
Michaël Van DammePieter BeylBram VanderborghtVictor GrosuRonald Van HamInnes VanderniepenArnout MatthysDirk LefeberPublished in: ICRA (2011)
Keyphrases
- position control
- end effector
- degrees of freedom
- robot arm
- robotic manipulator
- robot manipulators
- inverse kinematics
- vision system
- visual servoing
- force control
- force feedback
- control scheme
- joint space
- impedance control
- closed loop
- robotic arm
- manipulation tasks
- hand eye calibration
- control law
- motion planning
- pose estimation
- control system
- real time
- pid controller
- control strategies
- feedback loop
- adaptive control
- image space
- robotic systems
- path planning
- image sequences