Trajectory tracking for the inspection of deformable objects considering manipulability of a 7-DoF serial manipulator.
Carlos BorgesJosé RibeiroLuís LouroPaulo VicenteCarlos FariaSérgio MonteiroEstela BichoPublished in: ICARSC (2022)
Keyphrases
- deformable objects
- trajectory tracking
- closed loop
- bi directional
- dynamic model
- control system
- visual servoing
- control law
- physical constraints
- iterative learning
- vision system
- control method
- sliding mode
- degrees of freedom
- iterative learning control
- motion planning
- pose estimation
- path planning
- mobile robot
- control theory
- control scheme
- variable structure
- nonlinear systems
- object surface
- adaptive control
- control algorithm
- neural network structure
- control strategy
- face detection
- real time