On the optimal control of robotic manipulators with actuator and end-effector constraints.
Zvi ShillerSteven DubowskyPublished in: ICRA (1985)
Keyphrases
- robotic manipulator
- optimal control
- end effector
- control law
- position control
- control strategy
- control scheme
- degrees of freedom
- visual servoing
- control system
- vision system
- robot arm
- closed loop
- dynamic programming
- inverse kinematics
- control method
- robot manipulators
- nonlinear systems
- robotic systems
- control strategies
- reinforcement learning
- control algorithm
- adaptive control
- mathematical model
- force control
- multiple models
- dynamic model
- pid controller
- motion planning
- neural network
- pose estimation
- dynamic environments
- multi view
- mobile robot