A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints.
Yuxin SuChunhong ZhengPaolo MercorelliPublished in: AIM (2017)
Keyphrases
- robot manipulators
- force control
- control system
- control scheme
- control of robot manipulators
- inverse kinematics
- end effector
- control method
- trajectory planning
- adaptive controller
- sliding mode control
- pid controller
- dynamic model
- closed loop
- sliding mode
- variable structure
- control strategy
- neural network
- mobile robot
- genetic algorithm