One-Stage Auto-Tuning Procedure of Robot Dynamics and Control Parameters for Trajectory Tracking Applications.
Loris RovedaMarco ForgioneDario PigaPublished in: UR (2020)
Keyphrases
- trajectory tracking
- control parameters
- control law
- dynamic model
- physical constraints
- pid controller
- closed loop
- visual servoing
- tracking error
- control method
- control system
- bi directional
- control scheme
- iterative learning
- sliding mode
- optimization algorithm
- desired trajectory
- neural network controller
- adaptive control
- nonlinear systems
- learning rate
- experimental data
- mobile robot
- dynamical systems
- state variables
- robot manipulators
- state space
- vision system
- machine learning