FPGA-implementation of passivity-based control for elastic-joint robot.
Qi ZhangZongwu XieHegao CaiHong LiuPublished in: ROBIO (2012)
Keyphrases
- fpga implementation
- robot control
- mobile robot
- robot manipulators
- robotic systems
- impedance control
- hand eye
- trajectory tracking
- control system
- visual servoing
- hardware implementation
- position control
- autonomous robots
- control signals
- force control
- robotic manipulator
- control strategy
- sliding mode
- control method
- motion control
- robotic arm
- path planning
- real time
- legged robots
- central pattern generator
- end effector
- closed loop
- multi agent systems
- manipulation tasks
- robot arm
- field programmable gate array
- human robot interaction
- control scheme
- degrees of freedom
- fine grained
- machine learning