Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment.
Wenyu LiangZhao FengYan WuJunli GaoQinyuan RenTong Heng LeePublished in: IROS (2020)
Keyphrases
- impedance control
- position control
- force control
- control scheme
- end effector
- robot manipulators
- robotic manipulator
- closed loop
- degrees of freedom
- robot arm
- control strategy
- control system
- real time
- control law
- inverse kinematics
- control strategies
- optimal control
- motor control
- manipulation tasks
- control architecture
- model free
- mobile robot
- visual servoing
- robotic systems
- joint angles
- vision system
- pid controller
- contact force
- learning algorithm
- dynamic programming
- dc motor
- dynamic model
- fuzzy controller
- feedback loop