Keyphrases
Contact Force
100%
Redundant Manipulator
100%
End-effector
100%
Null Space
100%
PD Control
100%
Exponential Tracking
100%
Orthogonal Pair
66%
Cost Function
33%
Mitsubishi
33%
Controller
33%
Two-pair
33%
Redundancy
33%
Robot Manipulator
33%
Closed-loop System
33%
Reconfiguration
33%
Tracking Task
33%
Resolution Method
33%
Orthogonalization
33%
Space Variables
33%
Passivity-based
33%
Redundancy Resolution
33%
Constrained Degrees of Freedom
33%
Cartesian Space
33%
Seven Degrees of Freedom
33%
Kinematic Chain
33%
Joint Contact
33%
Constrained Robot
33%
Orthogonal Space
33%
Joint Velocity
33%
Holonomic Constraints
33%
Force Space
33%
Velocity Space
33%
Second-order Sliding Mode Controller
33%
Engineering
Contact Force
100%
Redundant Manipulator
100%
Null Space
100%
End Effector
100%
Degree of Freedom
66%
Simulation Result
33%
Robot Manipulator
33%
Kinematic Chain
33%
Primary Task
33%
Mitsubishi
33%
Orthogonal Subspace
33%
Orthogonalization
33%
Joints (Structural Components)
33%
Robot
33%
Cost Function
33%
Sliding Mode Controller
33%
Feedback Control
33%