Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs.
Arturo Zavala-RíoVíctor SantibáñezPublished in: IEEE Trans. Control. Syst. Technol. (2006)
Keyphrases
- robot manipulators
- control law
- force control
- control scheme
- sliding mode
- adaptive controller
- closed loop
- variable structure
- nonlinear systems
- control system
- end effector
- dynamic model
- control algorithm
- inverse kinematics
- lyapunov function
- motion planning
- sliding mode control
- adaptive control
- visual servoing
- control theory
- control strategy
- tracking error
- particle swarm optimization
- neural network
- fuzzy logic
- expert systems