Force estimation based compliance control of harmonically driven manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4208-4213

  Aksman, Leon M ^a   Carignan, Craig R ^b   Akin, David L ^a  

^a UNIVERSITY OF MARYLAND   (United States)

^b GEORGETOWN UNIVERSITY MEDICAL CENTER   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANCE CONTROL; FORCE ESTIMATION; FORCE-TORQUE SENSORS; HARMONIC DRIVE GEARING;

FEEDBACK CONTROL; FORCE CONTROL; HARMONIC ANALYSIS; PARAMETER ESTIMATION; PROBLEM SOLVING; ROBOTICS;

MANIPULATORS;

EID: 36348987963     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364126     Document Type: Conference Paper

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