Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller.
Charalampos P. BechlioulisZoe DoulgeriGeorge A. RovithakisPublished in: Autom. (2012)
Keyphrases
- contact force
- position control
- robotic manipulator
- end effector
- force control
- force feedback
- impedance control
- closed loop
- control scheme
- degrees of freedom
- control system
- robot manipulators
- master slave
- position and orientation
- control architecture
- robot arm
- tactile sensing
- dc motor
- finite element analysis
- inverse kinematics
- control law
- finite element model
- visual servoing
- vision system
- robot moves
- software maintenance
- mobile robot
- control strategy
- pid controller
- approximation algorithms
- haptic device
- path planning
- legged robots
- robotic systems
- dynamic model
- robotic arm
- motion control
- control loop
- control signals
- virtual reality
- biped walking