State Machine-Based Hybrid Position/Force Control Architecture for a Waste Management Mobile Robot with 5DOF Manipulator
When robots are built with state-driven motors, task-planning increases in complexity and difficulty. This type of actuator is difficult to control, because each type of control position/force requires different motor parameters. To solve this problem, we propose a state machine-driven hybrid positi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-05-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/9/4222 |