KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy.
Branko LukicTadej PetricLeon ZlajpahKosta JovanovicPublished in: RAAD (2019)
Keyphrases
- end effector
- robot manipulators
- degrees of freedom
- inverse kinematics
- position control
- robot control
- mobile robot
- robotic systems
- robotic manipulator
- robotic arm
- visual servoing
- wheeled mobile robots
- control signals
- autonomous robots
- vision system
- joint space
- motion control
- control system
- home environment
- impedance control
- parallel robot
- control architecture
- hand eye
- robot arm
- feedback loop
- robot navigation
- motion planning
- real time
- robot motion
- human robot interaction
- humanoid robot
- autonomous vehicles
- physical constraints
- multi robot
- force feedback
- control loop
- force control
- motor learning
- robot behavior
- manipulation tasks
- walking robot
- robot teams
- skill learning
- kinematic model
- control scheme
- configuration space
- autonomous navigation
- position and orientation
- control strategies