An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator.
Hong LiuYechao LiuMing-He JinKai SunJianbin HuangPublished in: Adv. Robotics (2008)
Keyphrases
- position control
- impedance control
- force control
- robotic manipulator
- end effector
- robot manipulators
- degrees of freedom
- control system
- control scheme
- contact force
- closed loop
- control strategy
- robot arm
- control strategies
- vision system
- inverse kinematics
- control law
- visual servoing
- control architecture
- motion planning
- robotic systems
- master slave
- dynamic model
- path planning
- induction motor
- robotic arm
- optimal control
- dc motor
- human computer interaction