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A new approach to robust position/force control of flexible-joint robot manipulators.
Gangbing Song
Lilong Cai
Published in:
J. Field Robotics (1996)
Keyphrases
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robot manipulators
force control
position control
end effector
inverse kinematics
control scheme
dynamic model
joint angles
control system
control strategy
pid controller
real time
genetic algorithm
evolutionary algorithm
closed loop