The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction.
Joseph M. SchimmelsMichael A. PeshkinPublished in: ICRA (1992)
Keyphrases
- control law
- closed loop
- force control
- force feedback
- control system
- control algorithm
- end effector
- nonlinear systems
- control theory
- control strategy
- control scheme
- adaptive control
- visual servoing
- external disturbances
- motion planning
- optimal control
- lyapunov function
- autonomous robots
- neural network
- linear model
- robot manipulators
- degrees of freedom
- dynamical systems
- model selection
- contact force
- vision system
- variable structure
- image sequences