Local and closed-loop calibration of an industrial serial robot using a new low-cost 3D measuring device.
Martin GaudreaultAhmed JoubairIlian A. BonevPublished in: ICRA (2016)
Keyphrases
- flight test
- closed loop
- low cost
- parameter identification
- trajectory tracking
- force control
- control scheme
- control system
- open loop
- robot manipulators
- control law
- mobile robot
- inertial sensors
- feedback control
- reference trajectory
- visual servoing
- force feedback
- position control
- control loop
- pid controller
- real time
- vision system
- position and orientation
- asymptotic stability
- autonomous robots
- humanoid robot
- robotic manipulator
- path planning
- inverse kinematics
- robotic systems
- end effector
- disturbance rejection
- iterative learning control
- control architecture
- motion planning
- neural network
- feedback controller
- external disturbances
- guaranteed cost