A Robust Hybrid Position/Force Control Considering Motor Torque Saturation.
Takashi OhhiraKeinosuke YokotaShuichi TatsumiToshiyuki MurakamiPublished in: IEEE Access (2021)
Keyphrases
- position control
- force control
- robot manipulators
- closed loop
- control strategy
- control scheme
- impedance control
- robotic cell
- robotic manipulator
- control strategies
- control system
- control law
- robot arm
- dc motor
- degrees of freedom
- pid controller
- control architecture
- control algorithm
- optimal control
- contact force
- dynamic model
- real time
- control structure
- induction motor
- end effector
- multi objective