PLC-based control of a robot manipulator with closed kinematic chain.

Marcello Bonfè Matteo Vignali Mario Fiorini

Published in: ICRA (2009)

Keyphrases

robot manipulators
force control
control system
control of robot manipulators
control scheme
end effector
inverse kinematics
dynamic model
kinematic chain
real time
control strategy
pid controller
control method
degrees of freedom