Keyphrases
- robot manipulators
- control scheme
- fault tolerant control
- inverse kinematics
- force control
- control of robot manipulators
- control system
- trajectory planning
- dynamic model
- pid controller
- closed loop
- fault diagnosis
- fault detection
- sliding mode control
- sliding mode
- end effector
- control method
- variable structure
- fuzzy sets
- decision making
- multi objective
- fuzzy logic
- convergence rate
- control law
- control strategy