Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop.
Gianluca GarofaloAlexander WernerFlorian LoefflChristian OttPublished in: IEEE Control. Syst. Lett. (2019)
Keyphrases
- joint space
- sliding mode
- end effector
- position control
- degrees of freedom
- robot manipulators
- control law
- control system
- control scheme
- variable structure
- control strategy
- closed loop
- motion planning
- visual servoing
- inverse kinematics
- dynamic model
- robot arm
- mathematical model
- control algorithm
- pose estimation
- adaptive control
- nonlinear systems
- humanoid robot
- control strategies
- feedback loop
- motor control
- neural network
- pid controller
- configuration space
- fuzzy controller
- fuzzy logic