Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations.
Kun BaiWei ChenKok-Meng LeeZixin QueRong HuangPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- position control
- impedance control
- end effector
- robotic manipulator
- force control
- degrees of freedom
- control scheme
- robot arm
- inverse kinematics
- manipulation tasks
- robot manipulators
- control system
- closed loop
- control strategies
- vision system
- motion planning
- image sequences
- robotic arm
- pid controller
- optical flow
- dc motor
- force feedback
- feedback loop
- visual servoing
- configuration space
- joint angles
- control architecture
- three dimensional
- mobile robot
- control method
- moving objects
- scene understanding
- camera motion
- activity recognition
- control strategy
- dynamic model