Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments.
David Navarro-AlarconPeng LiHiu Man YipPublished in: IROS (2011)
Keyphrases
- robot manipulators
- force control
- end effector
- control scheme
- control of robot manipulators
- inverse kinematics
- sliding mode control
- adaptive controller
- robotic systems
- sliding mode
- dynamic model
- autonomous robots
- pid controller
- control method
- human operators
- control system
- real time
- adaptive control
- control theory
- feed forward
- regression model
- particle swarm optimization
- evolutionary algorithm
- variable structure
- artificial neural networks
- artificial intelligence
- genetic algorithm