Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints.
Gianluca PalliClaudio MelchiorriThomas WimböckMarkus GrebensteinGerd HirzingerPublished in: ICRA (2007)
Keyphrases
- position control
- force control
- control scheme
- tactile sensing
- feedback loop
- contact force
- robotic manipulator
- closed loop
- degrees of freedom
- robotic systems
- control system
- control strategy
- impedance control
- control law
- robot manipulators
- mobile robot
- dynamic model
- multi robot
- robot arm
- pid controller
- control strategies
- human operators
- end effector
- dc motor
- manipulation tasks
- humanoid robot
- visual servoing
- motion planning
- nonlinear systems
- fuzzy controller
- autonomous robots
- dynamic environments
- neural network
- human body
- pi controller
- finite element analysis
- control architecture