Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller
Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen
Topics & Concepts
Control theory (sociology)TorqueImpedance controlController (irrigation)Damping torqueEngineeringDirect torque controlServo controlStall torqueControl engineeringTorque motorRobotInner loopServoComputer scienceControl (management)Mechanical engineeringPhysicsInduction motorArtificial intelligenceThermodynamicsElectrical engineeringAgronomyVoltageBiologyRobot Manipulation and LearningTeleoperation and Haptic SystemsSoft Robotics and Applications