Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment.
Farhad AghiliErick DupuisEric MartinJean-Claude PiedboeufPublished in: IROS (2001)
Keyphrases
- robotic systems
- robotic manipulator
- autonomous robots
- mobile robot
- contact force
- accomplish tasks
- control architecture
- human operators
- adaptive control
- force feedback
- control system
- dynamic environments
- master slave
- impedance control
- unstructured environments
- path planning
- autonomous agents
- virtual reality
- distributed control
- control strategy
- working environment
- real time
- end effector
- force control
- manipulation tasks
- shape memory alloy
- operating environment
- real robot
- degrees of freedom
- higher order
- vision system
- robot behavior
- position control
- real world environments
- closed loop
- control method
- sagittal plane