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Kinematic Control With Singularity Avoidance for Teaching-Playback Robot Manipulator System.
Yanjiang Huang
Yoon Seong Yong
Ryosuke Chiba
Tamio Arai
Tsuyoshi Ueyama
Jun Ota
Published in:
IEEE Trans Autom. Sci. Eng. (2016)
Keyphrases
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robot manipulators
inverse kinematics
end effector
force control
control of robot manipulators
trajectory planning
control scheme
degrees of freedom
dynamic model
sliding mode
control system
control strategy
genetic algorithm
support vector
fuzzy neural network
robot arm