Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots.
Krzysztof P. JankowskiHoda A. ElMaraghyPublished in: Robotica (1994)
Keyphrases
- high precision
- feed forward
- inverse dynamics
- position control
- nonlinear systems
- high recall
- control law
- closed loop
- adaptive neural
- back propagation
- control system
- joint angles
- impedance control
- artificial neural networks
- robot arm
- neural network
- control scheme
- real time
- parallel manipulator
- mobile robot
- end effector
- control strategies
- degrees of freedom
- multi robot
- achieve high precision
- fuzzy controller
- fuzzy logic
- high accuracy
- visual cortex
- computational intelligence
- contact force
- vision system
- human body
- reinforcement learning
- position and orientation