Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty.
Satoko AbikoGerd HirzingerPublished in: IROS (2009)
Keyphrases
- dynamic model
- adaptive control
- control law
- control scheme
- joint space
- robot manipulators
- end effector
- trajectory tracking
- control method
- inverse kinematics
- nonlinear systems
- visual servoing
- experimental data
- parallel manipulator
- configuration space
- feedback control
- mobile robot
- degrees of freedom
- parallel robot
- dynamic environments
- motion planning
- humanoid robot
- vision system
- variable structure
- control algorithm
- neural controller
- sliding mode control
- sliding mode
- robot control
- video sequences
- robot arm
- controller design
- robotic systems
- control strategy
- control system
- computer vision
- real time
- path planning
- optimal control
- multi robot
- fuzzy controller