Selection of Required Controller for Position- and Force-Based Task in Motion Copying System.
Toshiaki OkanoRoberto OboeKouhei OhnishiToshiyuki MurakamiPublished in: J. Robotics Mechatronics (2020)
Keyphrases
- end effector
- robotic manipulator
- position control
- motion control
- position and orientation
- initial position
- impedance control
- degrees of freedom
- control system
- human arm
- motion estimation
- robot manipulators
- control law
- closed loop
- robot arm
- position information
- motion analysis
- motion model
- space time
- real time
- coordinate frame
- control scheme
- camera motion
- vision system
- optical flow
- image sequences
- motion planning
- inverse kinematics
- motion field
- motion detection
- visual servoing
- controller design
- sagittal plane
- human motion
- control signals
- force control
- social force model
- point correspondences
- control strategy
- contact force
- optimal control
- robotic arm
- control method
- fuzzy controller