Force/Torque-Based Impedance Control With Perturbation Observer - Toward High Payload System Robust Trajectory Tracking.
Hamza KhanMin Cheol LeeJin Won LeeChengqian LiMuhammad SalmanPublished in: IEEE Access (2022)
Keyphrases
- impedance control
- position control
- closed loop
- trajectory tracking
- force control
- dynamic model
- control scheme
- control system
- control law
- contact force
- control strategy
- model free
- control method
- control algorithm
- optimal control
- multi modal
- neural network
- pid controller
- nonlinear systems
- manipulation tasks
- degrees of freedom
- feature points
- moving objects
- reinforcement learning