Force/position control self-tuned to unknown surface slopes using motion variables.
Zoe DoulgeriYiannis KarayiannidisPublished in: Robotica (2008)
Keyphrases
- position control
- end effector
- tactile sensing
- robotic manipulator
- control scheme
- robot arm
- force control
- degrees of freedom
- closed loop
- control strategies
- inverse kinematics
- control system
- quasi static
- robot manipulators
- dc motor
- image sequences
- vision system
- pid controller
- motion planning
- three dimensional
- impedance control
- feedback loop
- human motion
- visual servoing
- motion estimation
- moving objects
- d objects
- camera motion
- configuration space
- motion model
- motion capture
- genetic algorithm
- control architecture
- position and orientation
- path planning
- control strategy
- humanoid robot
- optical flow
- computer vision
- control law