Hybrid position/force control of manipulator using series elastic actuator with position controller.
Kaito AbeTrongmun JiralerspongJun IshikawaPublished in: IECON (2020)
Keyphrases
- position control
- force control
- robot manipulators
- robotic manipulator
- closed loop
- impedance control
- control system
- control strategy
- control scheme
- robotic cell
- end effector
- degrees of freedom
- control law
- inverse kinematics
- control architecture
- robot arm
- control strategies
- pid controller
- contact force
- dc motor
- control method
- robotic systems
- operating conditions
- input output