A motion control strategy based on equivalent mass matrix in multidegree-of-freedom manipulator.
Toshiyuki MurakamiNaoki OdaYuji MiyasakaKouhei OhnishiPublished in: IEEE Trans. Ind. Electron. (1995)
Keyphrases
- control strategy
- control method
- control system
- force control
- robot motion
- control scheme
- control strategies
- inverse kinematics
- end effector
- mathematical model
- control algorithm
- robot manipulators
- optimal control
- operating conditions
- control loop
- control law
- factorization method
- robot arm
- speed control
- fuzzy logic control
- image sequences
- sliding mode control
- fuzzy controller
- motion planning
- optical flow
- adaptive control
- transient response
- matlab simulink
- parallel manipulator
- controller design
- degrees of freedom
- closed loop
- vision system
- fuzzy logic
- pi control
- nonlinear systems
- real time
- predictive control
- path planning
- dynamical systems
- sliding mode
- camera motion
- biped robot