Hybrid position/force control: task description and control scheme determination for a real implementation.
A. PujasPierre DauchezFrançois PierrotPublished in: IROS (1993)
Keyphrases
- position control
- control scheme
- force control
- robot manipulators
- closed loop
- control strategy
- control system
- control law
- robotic manipulator
- dynamic model
- pid controller
- control strategies
- end effector
- control algorithm
- fuzzy controller
- degrees of freedom
- control structure
- dc motor
- robot arm
- genetic algorithm
- human arm
- pi controller
- feedback loop
- dynamical systems
- mobile robot
- evolutionary algorithm