CMAC-Adaptive Force-Position Control of a Flexible-Joint Robot.
Samuel DoctoleroChris J. B. MacnabPublished in: CASE (2019)
Keyphrases
- position control
- force control
- robotic manipulator
- control scheme
- closed loop
- robot arm
- control system
- end effector
- control strategies
- robot manipulators
- feedback loop
- pid controller
- degrees of freedom
- dc motor
- impedance control
- control architecture
- control law
- inverse kinematics
- dynamic model
- tactile sensing
- control strategy
- nonlinear systems
- visual servoing
- contact force
- robotic systems