Engineering design of a multirate nonlinear controller for robot manipulators.
J. A. Tenreiro MachadoJorge Leite Martins de CarvalhoPublished in: J. Field Robotics (1989)
Keyphrases
- engineering design
- robot manipulators
- adaptive controller
- variable structure
- control scheme
- inverse kinematics
- sliding mode control
- conceptual design
- sliding mode
- dynamic model
- artificial intelligence
- tracking error
- pid controller
- engineering education
- design process
- engineering problems
- closed loop
- adaptive control
- end effector
- control law
- control system
- case study
- fuzzy neural network
- single neuron
- knowledge base
- fuzzy control
- control strategy
- real time
- expert systems
- adaptive neural
- control theory
- fuzzy controller