Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control.
Dongmei WeiChao RenMingyuan ZhangXiaohan LiShugen MaChaoxu MuPublished in: IECON (2017)
Keyphrases
- disturbance rejection
- force control
- closed loop
- control law
- motion planning
- position control
- control system
- robot manipulators
- control strategy
- pid controller
- impedance control
- control scheme
- end effector
- mobile robot
- degrees of freedom
- limit cycle
- control loop
- humanoid robot
- robot arm
- input output
- vision system
- dynamic environments
- robotic arm
- master slave
- inverse kinematics
- neuro fuzzy
- visual servoing
- control architecture
- path planning
- neural network
- control method
- multi robot