Passivity-Based Control Allocation of a Redundantly-Actuated Parallel Robotic Manipulator with a Point-Mass Payload.
Alex HayesRyan James CaverlyPublished in: ACC (2020)
Keyphrases
- robotic manipulator
- control scheme
- sliding mode
- control system
- robotic systems
- control strategy
- visual servoing
- control law
- closed loop
- position control
- end effector
- degrees of freedom
- direct drive
- dynamic model
- control method
- robot manipulators
- adaptive control
- master slave
- impedance control
- control strategies
- dynamical systems
- experimental data
- vision system
- three dimensional
- neural network