Force Control of a Two-arm Robot Manipulating a Deformable Object.

Xavier Delebarre Eric Dégoulange Pierre Dauchez Yann Bouffard-Vercelli

Published in: ISER (1991)

Keyphrases

force control
deformable objects
robot manipulators
robotic cell
control strategy
closed loop

vision system
deformable object tracking
position control
end effector
robotic arm
contact force

inverse kinematics
control law
control scheme
control architecture
real time

pid controller
complex background
robotic systems
state space
mobile robot