Disturbance observer based robust impedance control of redundant manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 1999, Pages 647-652

  Oh, Yonghwan ^a   Chung, Wan Kyun ^a   Suh, Il Hong ^a  

^a WASEDA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

EXTENDED TASK SPACE FORMULATION; MOMENTUM FEEDBACK DISTURBANCE OBSERVER; REDUNDANT MANIPULATORS; ROBUST IMPEDANCE CONTROL;

DEGREES OF FREEDOM (MECHANICS); DYNAMICS; END EFFECTORS; FEEDBACK CONTROL; KINEMATICS; MANIPULATORS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS);

MECHANICAL VARIABLES CONTROL;

EID: 0033324734     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)