Lyapunov-stable position/force control based on dual nature in constraint motion.

Mamoru Minami Fujia Yu Akira Yanou

Published in: IROS (2013)

Keyphrases

force control
robot manipulators
end effector
control law
closed loop
control scheme
position control
inverse kinematics
motion planning

control strategy
joint angles
image sequences
robotic cell
position and orientation
camera motion
optical flow
control system

control algorithm
dynamic model
impedance control
visual servoing
motion capture
human motion
degrees of freedom
moving objects

nonlinear systems
robot arm
dynamical systems
virtual environment
robotic manipulator
sufficient conditions
particle swarm optimization
video sequences