Motion/Force Decomposition of Redundant Manipulator and its Application to Hybrid Impedance Control.
Yonghwan OhWan Kyun ChungYoungil YoumIl Hong SuhPublished in: ICRA (1998)
Keyphrases
- impedance control
- position control
- end effector
- force control
- degrees of freedom
- inverse kinematics
- robot manipulators
- robotic manipulator
- robot arm
- vision system
- motion planning
- manipulation tasks
- visual servoing
- control scheme
- control system
- robotic arm
- force feedback
- joint angles
- camera motion
- parallel manipulator
- optical flow
- optimal control
- control strategy
- closed loop
- control law
- model free
- contact force
- mobile robot
- robotic systems
- position and orientation
- human motion
- dc motor