A Hybrid Control Strategy for Dual-arm Object Manipulation Using Fused Force/Position Errors and Iterative Learning.
Bo-Hsun ChenYu-Hsun WangPei-Chun LinPublished in: AIM (2018)
Keyphrases
- control strategy
- position control
- iterative learning
- object manipulation
- force control
- control scheme
- control strategies
- control system
- control method
- robot control
- control law
- control algorithm
- trajectory tracking
- pid controller
- mathematical model
- robot manipulators
- closed loop
- optimal control
- manipulation tasks
- robot motion
- fuzzy controller
- incremental learning
- sliding mode control
- end effector
- robotic systems
- error reduction
- sliding mode
- robotic arm
- data fusion
- visual servoing
- variable structure
- fuzzy neural network
- fuzzy logic
- robot arm
- nonlinear systems
- real time
- adaptive control
- fuzzy control