Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment.
Dennis J. F. HeckAlessandro SacconNathan van de WouwHenk NijmeijerPublished in: Autom. (2016)
Keyphrases
- robot manipulators
- position control
- force control
- end effector
- control scheme
- inverse kinematics
- joint angles
- real time
- control of robot manipulators
- tracking error
- trajectory planning
- closed loop
- multiple targets
- position and orientation
- degrees of freedom
- dynamic environments
- mobile robot
- moving objects
- control system
- robotic systems
- fuzzy logic
- force feedback
- learning algorithm
- neural network