A centralized hybrid position/force controller for cooperative robots with bounded torque inputs.
Pablo Sánchez-SánchezJavier Pliego-JiménezMarco A. Arteaga-PérezPublished in: ICCA (2017)
Keyphrases
- position control
- cooperative
- robotic manipulator
- control scheme
- impedance control
- closed loop
- force control
- control system
- robotic systems
- pid controller
- tactile sensing
- dc motor
- control strategies
- control architecture
- fully distributed
- end effector
- control strategy
- degrees of freedom
- robot arm
- control law
- motion control
- robot manipulators
- feedback loop
- peer to peer
- mobile robot
- distributed environment
- pid control
- cooperative behavior
- multi robot
- robot control
- autonomous robots
- control method
- induction motor
- multi agent systems
- real time
- contact force
- vision system
- feedback control
- cooperating agents
- visual servoing
- single point
- operating conditions
- fuzzy control
- multi agent