A Geometric Approach towards Inverse Kinematics of Soft Extensible Pneumatic Actuators Intended for Trajectory Tracking.
Mahboubeh KeyvanaraArman GoshtasbiIrene A. KulingPublished in: Sensors (2023)
Keyphrases
- inverse kinematics
- trajectory tracking
- control system
- robot arm
- control law
- motion planning
- degrees of freedom
- closed loop
- robot manipulators
- control scheme
- control strategies
- sliding mode
- control algorithm
- nonlinear systems
- control strategy
- pid controller
- visual servoing
- position and orientation
- bi directional
- control method
- fuzzy logic
- fuzzy control
- iterative learning
- adaptive control
- physical constraints
- variable structure
- fuzzy neural network
- neural network
- dynamic model
- mathematical model
- learning algorithm
- control parameters
- optimal control
- sliding mode control
- evolutionary algorithm
- genetic algorithm