Lyapunov-stable position/force control based on dual nature in constraint motion.
Mamoru MinamiFujia YuAkira YanouPublished 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