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Position control and explicit force control of constrained motions of a manipulator for accurate grinding tasks.
Mamoru Minami
Toshiyuki Asakura
Lixin Dong
Yumei Huang
Published in:
Adv. Robotics (1996)
Keyphrases
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force control
position control
robot manipulators
control strategy
closed loop
impedance control
robotic manipulator
end effector
inverse kinematics
control system
control law
control scheme
contact force
neural network
human motion
control structure