Posture Control of Two Link Torque Unit Manipulator Considering Influence of Viscous Friction on Joints.
Yasuyuki SetoyamaRyota HayashiYong YuTetsuya KinugasaKoji YoshidaKoichi OsukaPublished in: J. Robotics Mechatronics (2018)
Keyphrases
- control system
- control method
- degrees of freedom
- human body
- contact force
- control strategy
- control algorithm
- disturbance rejection
- control scheme
- robot manipulators
- robotic manipulator
- computer controlled
- robotic arm
- human motion
- control unit
- optimal control
- external forces
- end effector
- dynamic model
- master slave
- force control
- motion planning
- path planning
- hand eye
- position control
- trajectory tracking
- closed loop
- force feedback
- induction motor
- adaptive control