Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque.
Tomohisa OkiHiroki NakanishiKazuya YoshidaPublished in: IROS (2008)
Keyphrases
- end effector
- joint space
- robot manipulators
- hand eye
- robotic arm
- trajectory tracking
- degrees of freedom
- robotic manipulator
- force control
- control system
- control scheme
- computer controlled
- control strategy
- dynamic model
- inverse kinematics
- visual servoing
- optimal control
- position control
- vision system
- control method
- robot control
- physical constraints
- control law
- robot arm
- autonomous robots
- contact force
- path planning
- control algorithm
- control architecture
- mobile robot
- master slave
- dynamic programming
- force feedback
- home environment
- optimal solution
- closed loop
- motion control
- induction motor
- configuration space
- robotic systems
- robot motion
- human robot interaction
- humanoid robot
- formation control
- hand eye calibration
- robot path planning
- mathematical model
- modular robots
- position and orientation
- motion planning