Kinematic stability of hybrid position/force control for robots.

Zoe Doulgeri Nikolaos Fahantidis Richard P. Paul

Published 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