Joint Space Trajectory Controller for Modular Reconfigurable Manipulator.
Shreyas Maheshkumar PatelEkta SinglaAshish SinglaPublished in: AIR (2023)
Keyphrases
- joint space
- end effector
- degrees of freedom
- robotic manipulator
- robot manipulators
- trajectory tracking
- trajectory planning
- configuration space
- control law
- control system
- inverse kinematics
- closed loop
- robot arm
- control scheme
- motion planning
- visual servoing
- control method
- vision system
- pid controller
- control strategy
- dynamic model
- sliding mode
- real time
- pose estimation
- optimal control
- control algorithm
- path planning
- humanoid robot
- control strategies
- adaptive control
- contact force
- computer vision
- fuzzy logic controller
- high dimensional
- position and orientation
- neural network