Stable force control of one degree-of-freedom manipulator in contact tasks.

Yasumasa Shoji Makoto Inaba Toshio Fukuda

Published in: IROS (1993)

Keyphrases

force control
robot manipulators
contact force
closed loop
control strategy
robotic cell
robotic systems
inverse kinematics
impedance control
control scheme
control law
input output
control architecture
finite element model
master slave
position control