A repetitive control scheme for industrial robots based on b-spline trajectories.
Luigi BiagiottiLorenzo MorielloClaudio MelchiorriPublished in: IROS (2015)
Keyphrases
- control scheme
- b spline
- industrial robots
- dynamic model
- closed loop
- control system
- control points
- control strategy
- controller design
- predictive control
- control law
- basis functions
- robot manipulators
- control loop
- tensor product
- least squares
- contour extraction
- cubic b spline
- curve fitting
- robotic manipulator
- pid controller
- fuzzy controller
- affine transformation
- induction motor
- free form deformation
- tracking error
- fault tolerant control
- moving objects
- neural network controller
- deformation field
- cubic spline
- mathematical model
- linear combination
- human arm