Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM.
Nicolas HerzigRichard MoreauTanneguy RedarceFrederic AbryXavier BrunPublished in: IROS (2015)
Keyphrases
- position control
- force control
- closed loop
- open loop
- control system
- control scheme
- control law
- robot manipulators
- feedback control
- control strategy
- control loop
- guaranteed cost
- disturbance rejection
- induction motor
- pid control
- pid controller
- trajectory tracking
- end effector
- control theory
- robotic manipulator
- asymptotic stability
- parameter identification
- control method
- feedback controller
- visual servoing
- reference trajectory
- control strategies
- optimal control
- dc motor
- adaptive fuzzy
- inverted pendulum
- sliding mode
- controller design
- robot arm
- intelligent control
- degrees of freedom