Adaptive Admittance Control in Task-Priority Framework for Contact Force Control in Autonomous Underwater Floating Manipulation* This work is part of a project titled "Force/position control system to enable compliant manipulation from a floating I-AUV", which received funding from the European Union's Horizon 2020 research and innovation programme, under the Marie Sklodowska-Curie grant agreement no. 750063.
Patryk CieslakPere RidaoPublished in: IROS (2018)
Keyphrases
- force control
- control system
- position control
- control strategy
- closed loop
- robot manipulators
- impedance control
- control law
- contact force
- manipulation tasks
- robotic manipulator
- control architecture
- end effector
- control scheme
- force feedback
- control strategies
- control method
- cooperative
- adaptive control
- optimal control
- degrees of freedom
- fuzzy logic
- real time
- pid controller
- robotic systems
- autonomous underwater vehicles
- robot arm
- visual feedback
- dc motor
- autonomous underwater vehicle