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Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of Hysteresis.

Ahmad Taher AzarFernando E. SerranoAnis KoubaaNashwa Ahmad KamalSundarapandian VaidyanathanArezki Fekik
Published in: AISI (2019)
Keyphrases
  • robot manipulators
  • force control
  • sliding mode
  • sliding mode control
  • control scheme
  • inverse kinematics
  • variable structure
  • end effector
  • dynamic model
  • fuzzy neural network
  • path planning