Multi-rate operational space control of compliant motion in robotic manipulators.
Dung Ngoc VuongMarcelo H. Ang Jr.Tao Ming LimSer Yong LimPublished in: SMC (2009)
Keyphrases
- robotic manipulator
- end effector
- space time
- degrees of freedom
- control scheme
- control system
- robotic systems
- visual servoing
- motion estimation
- robot arm
- optical flow
- inverse kinematics
- position control
- robot manipulators
- configuration space
- multiple models
- motion model
- vision system
- image sequences
- motion capture
- d scene
- humanoid robot
- dynamic model
- control strategy
- camera motion
- joint angles
- mobile robot
- machine learning