Auto-Tuning of GPC weights based on Particle Swarm Optimization applied to a Manipulator End-Effector Trajectory Tracking.
Felipe José de Sousa VasconcelosIury de Amorim Gaspar FilgueirasWilkley Bezerra CorreiaPublished in: ICAR (2019)
Keyphrases
- end effector
- trajectory tracking
- visual servoing
- particle swarm optimization
- inverse kinematics
- degrees of freedom
- robot manipulators
- vision system
- robot arm
- control law
- closed loop
- mobile robot
- control system
- dynamic model
- position and orientation
- bi directional
- multi objective
- model free
- motion planning
- control method
- learning algorithm