Position and force control for constrained manipulator motion: Lyapunov's direct method.
Danwei WangN. Harris McClamrochPublished in: IEEE Trans. Robotics Autom. (1993)
Keyphrases
- mobile robot
- force control
- control law
- motion planning
- end effector
- robot manipulators
- control scheme
- inverse kinematics
- closed loop
- position control
- visual servoing
- human arm
- tracking error
- nonlinear systems
- robot arm
- robotic cell
- robotic arm
- control strategy
- control system
- joint angles
- robotic manipulator
- impedance control
- image sequences
- control algorithm
- position and orientation
- dynamic model
- sufficient conditions
- pid controller
- camera motion
- parallel manipulator
- configuration space
- human motion
- mathematical model
- optimal control
- fuzzy logic
- humanoid robot