DLR's multisensory articulated hand. II. The parallel torque/position control system

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2087-2093

  Liu, H ^a   Meusel, P ^a   Butterfass, J ^a   Hirzinger, G ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Data gloves; Feedback control; Fingers; Motion control; Position control; Robots; Robust control; Sliding mode control; Switches; Torque control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPLIANCE CONTROL; FEEDBACK CONTROL; MOTION CONTROL; ROBOTICS; ROBOTS; ROBUST CONTROL; SLIDING MODE CONTROL; SWITCHES; TORQUE; TORQUE CONTROL; CONTROL SYSTEM SYNTHESIS; ELECTRIC IMPEDANCE; ELECTRIC VARIABLES CONTROL; MOTION PLANNING; OBSERVABILITY; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SENSOR DATA FUSION; STRATEGIC PLANNING;

CONTACT MOTION; CONTROL STRATEGIES; DATA GLOVE; FINGERS; IMPEDANCE CONTROL; MANIPULATION TASK; TRAJECTORY TRACKING; TRANSITION CONTROL;

POSITION CONTROL; GRIPPERS;

DATAGLOVES; SLIDING MODE CONTROL;

EID: 0031631865     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680626     Document Type: Conference Paper

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