A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking.
Mahboubeh KeyvanaraArman GoshtasbiIrene A. KulingPublished in: CoRR (2022)
Keyphrases
- inverse kinematics
- trajectory tracking
- control system
- robot arm
- control law
- robot manipulators
- motion planning
- degrees of freedom
- closed loop
- control scheme
- control strategies
- sliding mode
- position and orientation
- pid controller
- control method
- dynamic model
- control algorithm
- fuzzy logic
- control strategy
- visual servoing
- real time
- nonlinear systems
- iterative learning
- physical constraints
- adaptive control
- fuzzy control
- bi directional
- desired trajectory
- fuzzy controller
- mathematical model
- pose estimation
- sliding mode control
- vision system
- path planning
- dynamical systems
- three dimensional
- computer vision