Robust motion/force control of nonholonomic mobile manipulators using hybrid joints.
Zhijun LiChenguang YangJun LuoZhuping WangAiguo MingPublished in: Adv. Robotics (2007)
Keyphrases
- force control
- control law
- motion planning
- degrees of freedom
- contact force
- path planning
- closed loop
- position control
- human motion
- trajectory planning
- robot manipulators
- control system
- control strategy
- mobile robot
- kinematic constraints
- nonlinear systems
- control scheme
- robotic cell
- optical flow
- inverse kinematics
- end effector
- optimal control
- image sequences
- impedance control
- joint angles
- visual servoing
- adaptive control
- motion capture
- control parameters
- camera motion
- moving objects