Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control.
Min Jun KimAlexander WernerFlorian LoefflChristian OttPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- impedance control
- manipulation tasks
- force control
- high degree of freedom
- position control
- contact force
- control strategy
- robotic systems
- optimal control
- robot control
- eddy current
- control system
- robot manipulators
- control scheme
- model free
- mobile robot
- control algorithm
- autonomous robots
- robotic manipulator
- induction motor
- matlab simulink
- service robots
- control method
- humanoid robot
- master slave
- dynamic model
- human robot interaction