A force/position regulator for robot manipulators without velocity measurements.
Bruno SicilianoLuigi VillaniPublished in: ICRA (1996)
Keyphrases
- robot manipulators
- end effector
- force control
- position control
- control scheme
- closed loop
- inverse kinematics
- control of robot manipulators
- fuzzy controller
- dynamic model
- pid controller
- control system
- degrees of freedom
- steady state
- fuzzy neural network
- vision system
- control law
- genetic algorithm
- fuzzy rules
- velocity measurements