Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction.
Rashid YasinNabil SimaanPublished in: Int. J. Robotics Res. (2021)
Keyphrases
- position control
- control scheme
- closed loop
- force control
- robotic manipulator
- tactile sensing
- control system
- control strategies
- force sensing
- robot arm
- feedback loop
- dc motor
- robotic systems
- degrees of freedom
- impedance control
- pid controller
- end effector
- robot manipulators
- mobile robot
- multi robot
- control strategy
- fuzzy controller
- control law
- optical flow