Passivity-Based Controller- Observer for Robot Manipulators.
Farah BouakrifDjamel BoukhetalaFarès BoudjemaPublished in: Int. J. Robotics Autom. (2010)
Keyphrases
- robot manipulators
- sliding mode
- force control
- impedance control
- sliding mode control
- control scheme
- control of robot manipulators
- trajectory tracking
- variable structure
- adaptive controller
- inverse kinematics
- dynamic model
- pid controller
- end effector
- closed loop
- tracking error
- fuzzy neural network
- adaptive control
- control law
- control strategy
- control method