Robot impedance control with nondiagonal stiffness.
Fabrizio CaccavaleBruno SicilianoLuigi VillaniPublished in: IEEE Trans. Autom. Control. (1999)
Keyphrases
- impedance control
- force control
- manipulation tasks
- robot manipulators
- position control
- end effector
- robotic systems
- robot navigation
- human robot interaction
- mobile robot
- motion planning
- model free
- control strategy
- robot arm
- humanoid robot
- inverse kinematics
- closed loop
- service robots
- vision system
- autonomous robots
- optimal control
- control scheme
- path planning
- motor control
- robotic manipulator
- control law
- contact force
- multi robot
- dynamic programming
- degrees of freedom
- visual servoing
- position and orientation