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An Improved Adaptive Super-Twisting Momentum Observer to Estimate External Torque for a Robot Manipulator.
Shike Long
Xuanju Dang
Shanlin Sun
Published in:
J. Intell. Robotic Syst. (2023)
Keyphrases
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robot manipulators
control of robot manipulators
control scheme
dynamic model
force control
trajectory planning
inverse kinematics
closed loop
learning rate
control system
control strategy
pid controller
fuzzy control
adaptive control
end effector
tracking error