Adaptive Jacobian Force/Position Tracking Control of Robotic Manipulators in Compliant Contact with an Uncertain Surface.
Hanlei WangYongchun XiePublished in: Adv. Robotics (2009)
Keyphrases
- position control
- robotic manipulator
- position tracking
- control scheme
- force control
- robotic systems
- control system
- control strategies
- closed loop
- visual servoing
- end effector
- degrees of freedom
- three dimensional
- robot arm
- robot manipulators
- control strategy
- feedback loop
- dynamic model
- contact force
- d objects
- pid controller
- dc motor