Improving force control performance by computational elimination of non-contact forces/torques.

Daniel Kubus Torsten Kröger Friedrich M. Wahl

Published in: ICRA (2008)

Keyphrases

force control
contact force
inverse dynamics
robot manipulators
robotic cell
finite element analysis
master slave
control strategy
closed loop
dynamic model
control algorithm
control law
finite element model
force feedback
impedance control
real time
nonlinear systems
multi objective