Adaptive multi-dimensional compliance control of a humanoid robotic arm with anti-windup compensation

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 2218-2223

  Khan, Said G ^a   Herrmann, Guido ^a   Pipe, Tony ^a   Melhuish, Chris ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

4 DEGREES OF FREEDOM; ACTUATOR SATURATIONS; ANTI-WINDUP COMPENSATION; ANTI-WINDUP COMPENSATOR; CARTESIAN SPACE; COMPLIANCE CONTROL; COMPLIANCE MODEL; CONTROL SCHEMES; EXTERNAL TORQUE; HUMANOID ROBOTICS; MASS-SPRING-DAMPER SYSTEM; MULTI VARIABLES; REFERENCE MODELS; ROBOT MANIPULATOR; ROBOT MOTION;

ANTHROPOMORPHIC ROBOTS; INTELLIGENT ROBOTS; MATHEMATICAL MODELS; ROBOT APPLICATIONS; ROBOTICS;

MODEL REFERENCE ADAPTIVE CONTROL;

EID: 78651490965     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649128     Document Type: Conference Paper

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