Linearizing the joint torque characteristics of an electric direct-drive robot for high performance control of in-contact operations.
Patrick F. MuirPublished in: ICRA (1992)
Keyphrases
- direct drive
- robotic manipulator
- position control
- cnc machine tools
- visual servoing
- robotic systems
- control scheme
- end effector
- mobile robot
- robot control
- robot manipulators
- contact force
- hand eye
- degrees of freedom
- control strategy
- autonomous robots
- induction motor
- robotic arm
- force feedback
- force control
- control system
- optimal control
- inverse kinematics
- human operators
- closed loop
- electric vehicles
- control strategies
- control signals
- joint space
- motion planning
- adaptive control
- context aware