Kinematic stability of hybrid position/force control for robots.
Zoe DoulgeriNikolaos FahantidisRichard P. PaulPublished in: IROS (1998)
Keyphrases
- force control
- position control
- end effector
- robot manipulators
- joint space
- inverse kinematics
- manipulation tasks
- degrees of freedom
- closed loop
- control strategy
- robotic cell
- parallel robot
- robotic systems
- impedance control
- control scheme
- mobile robot
- robotic manipulator
- control law
- robot arm
- vision system
- dynamic model
- force feedback
- control strategies
- configuration space
- autonomous robots
- motion planning
- mathematical model
- control system
- control architecture
- joint angles
- neural network
- robotic arm
- human robot interaction
- contact force
- humanoid robot
- multi robot
- input output
- dynamic environments