Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system.
Yuichiro TairaShinichi SagaraMasahiro OyaPublished in: Artif. Life Robotics (2022)
Keyphrases
- force control
- robot manipulators
- inverse kinematics
- end effector
- contact force
- underwater vehicles
- closed loop
- control strategy
- impedance control
- position control
- control scheme
- control law
- pid controller
- image sequences
- parallel manipulator
- force feedback
- motion planning
- human motion
- camera motion
- optical flow
- linear model
- humanoid robot
- dynamic model
- degrees of freedom
- path planning
- control system
- computer vision