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Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph.
Aitziber Mancisidor
Asier Zubizarreta
Itziar Cabanes
Pablo Bengoa
Marga Marcos
Je Hyung Jung
Published in:
IROS (2015)
Keyphrases
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force control
contact force
robot manipulators
position control
impedance control
closed loop
robotic cell
control strategy
control law
master slave
finite element analysis
force feedback
mathematical model
virtual environment
neural network
haptic device
real time