Nonholonomic control of a three-DOF planar underactuated manipulator.
Hirohiko AraiKazuo TanieNaoji ShiromaPublished in: IEEE Trans. Robotics Autom. (1998)
Keyphrases
- motion planning
- degrees of freedom
- robotic arm
- parallel manipulator
- path planning
- end effector
- mechanical systems
- robotic manipulator
- control method
- control system
- autonomous control
- receding horizon
- mobile robot
- trajectory planning
- robot manipulators
- inverse kinematics
- computer controlled
- sliding mode
- tracking control
- adaptive control
- robot arm
- feedback control
- control law
- pose estimation
- control strategy
- optimal control
- joint angles
- hand eye
- master slave
- vision system
- force feedback
- control scheme
- humanoid robot
- neural network
- trajectory tracking
- force control
- multi robot
- real time
- robot control
- control theory
- visual servoing