A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud.
Xiao ChenHamid SadeghianLingyun ChenMario TröbingerAbadalla SwirkirAbdeldjallil NaceriSami HaddadinPublished in: ICRA (2023)
Keyphrases
- high frequency
- trajectory tracking
- impedance control
- low frequency
- force control
- high frequency components
- control architecture
- closed loop
- sliding mode
- control system
- robot manipulators
- manipulation tasks
- control law
- mobile robot
- high resolution
- robotic manipulator
- visual quality
- visual servoing
- high frequencies
- wavelet transform
- robotic systems
- subband
- edge information
- wavelet coefficients
- variable structure
- central pattern generator
- control scheme
- control algorithm
- control method
- edge detection
- discrete wavelet transform
- low pass
- phase shifting
- wavelet domain
- multi resolution analysis
- pid controller
- end effector
- sliding mode control
- autonomous robots
- control strategy
- frequency band
- position control
- computational complexity