| Document Date: 2015-03-16 04:23:45
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City B. Constraint / Heverlee / Constraint / A. Constraint / Oxford / / Company C. Press / IEEE Journal / Clarendon Press / / Country Belgium / United Kingdom / / / IndustryTerm virtual kinematic chain / order systems / inverse kinematic algorithm / reference systems / force feedback law / sensor-based robot systems / / Organization C. Force / Department of Mechanical Engineering / / / Position extended iTaSC controller / low level proportional controller / low level controller / feed-forward / position controller / complete iTaSC controller / impedance controller / iTaSC controller / proportional joint position controller / General / empty head / robotic co-worker / controller / integral controller / programmer / / ProgrammingLanguage A# / / Technology inverse kinematic algorithm / / |
Constraint-based specification of hybrid position-impedance-force tasks Gianni Borghesan and Joris De Schutter Abstract— This work aims to extend the application field of the constraint-based control framework called i