Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator.
Selçuk KizirAli ElsaviPublished in: Robotica (2021)
Keyphrases
- fractional order
- position control
- impedance control
- pid controller
- end effector
- force control
- closed loop
- control method
- robot manipulators
- robotic manipulator
- control system
- degrees of freedom
- control scheme
- feedback control
- inverse kinematics
- manipulation tasks
- robot arm
- vision system
- differential equations
- visual servoing
- control law
- pid control
- force feedback
- control strategy
- adaptive control
- control algorithm
- particle swarm optimization
- fuzzy control
- fuzzy logic controller
- rbf neural network
- robotic systems
- dynamical systems
- pose estimation
- motion planning
- dynamic model
- transfer function
- position and orientation
- robotic arm
- differential evolution
- fuzzy logic
- real time
- path planning
- neural network