New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot.
Pascal BigrasMichel LambertClaude PerronPublished in: SMC (2007)
Keyphrases
- real time
- mobile robot
- vision system
- control signals
- force control
- robotic systems
- robotic manipulator
- multi robot
- end effector
- visual servoing
- robot navigation
- biped walking
- robot manipulators
- control architecture
- robot arm
- visual feedback
- control system
- human robot interaction
- autonomous robots
- path planning
- force feedback
- control loop
- wheeled mobile robot
- humanoid robot
- obstacle avoidance
- contact force
- closed loop
- real environment
- position and orientation
- motion control
- robot control
- adaptive control
- changing environment
- inverted pendulum
- legged robots
- fuzzy controller
- control scheme
- position control
- biped robot
- stability margin
- control algorithm
- mobile robotics