Input-dependent stability of joint torque control of tendon-driven robot hands.
Makoto KanekoWolfgang PaetschHenning TollePublished in: IEEE Trans. Ind. Electron. (1992)
Keyphrases
- force control
- position control
- control signals
- robot manipulators
- control strategy
- feedback loop
- mobile robot
- motion control
- closed loop
- autonomous robots
- hand eye
- robot control
- robotic systems
- control scheme
- legged robots
- contact force
- visual servoing
- robotic arm
- human robot interaction
- control method
- pointing gestures
- sliding mode control
- external forces
- robot teams
- walking robot
- inverse kinematics
- vision system
- robot arm
- dynamic model
- control strategies
- stability analysis
- sliding mode
- control system
- optimal control
- semi autonomous
- kinematic model
- robotic manipulator
- joint space
- real robot
- control architecture
- human hand
- end effector