A Passive Formulation of Force Control for Kinematically Constrained Manipulators.
Nabil ZemitiGuillaume MorelBarthelemy CagneauDelphine BellotAlain MicaelliPublished in: ICRA (2006)
Keyphrases
- force control
- control law
- robot manipulators
- contact force
- control strategy
- closed loop
- robotic cell
- adaptive control
- master slave
- control algorithm
- impedance control
- robotic systems
- degrees of freedom
- control system
- motion planning
- control architecture
- optimal control
- path planning
- control structure
- virtual environment