Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators.
Zhiquan ZhangTianyu LiNadia FigueroaPublished in: CoRR (2024)
Keyphrases
- robot manipulators
- sliding mode
- force control
- sliding mode control
- inverse kinematics
- control of robot manipulators
- impedance control
- control scheme
- trajectory planning
- adaptive controller
- variable structure
- end effector
- control system
- pid controller
- dynamic model
- control strategy
- stability analysis
- control method
- fuzzy controller
- adaptive control
- artificial intelligence