Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations.
Yoshifumi MoritaMotoyuki KimataHiroyuki UkaiHisashi KandoFumitoshi MatsunoPublished in: RoMoCo (2005)
Keyphrases
- control method
- control system
- control theory
- adaptive control
- degrees of freedom
- closed loop
- control law
- robotic manipulator
- computer controlled
- lyapunov function
- fault tolerant control
- robotic arm
- master slave
- nonlinear dynamics
- control scheme
- end effector
- control strategy
- dynamical systems
- trajectory tracking
- active control
- real time control
- robot manipulators
- stability analysis
- nonlinear systems
- hand eye
- finite element model
- sufficient conditions
- parallel manipulator
- neural network