Prescribed performance model-free hybrid force/position control for 3-DOF SEA-based manipulator under partial state constraints.
Yangchun WeiHaoping WangYang TianPublished in: J. Frankl. Inst. (2024)
Keyphrases
- control algorithm
- position control
- control system
- impedance control
- force control
- control strategy
- model free
- robotic manipulator
- control scheme
- closed loop
- control strategies
- end effector
- dc motor
- robot manipulators
- degrees of freedom
- visual servoing
- real time
- pid controller
- control architecture
- reinforcement learning
- function approximation
- feedback loop
- vision system
- inverse kinematics
- robot arm
- master slave
- contact force
- dynamic model
- support vector machine