Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function.
Pannatee RakprayoonPeerayot SanposhNattapon ChayopitakPublished in: ROBIO (2011)
Keyphrases
- b spline
- robotic manipulator
- control scheme
- contour extraction
- control points
- curve matching
- free form deformation
- robotic systems
- surface representation
- deformable contour
- tensor product
- basis functions
- least squares
- affine transformation
- shape model
- curve fitting
- object silhouettes
- cubic b spline
- degrees of freedom
- cubic spline
- control system
- position control
- visual servoing
- adaptive control
- dynamic model
- multiple models
- learning algorithm
- spline curve
- deformation field
- control law
- vector field