Internal model based fault tolerant control of a robot manipulator.
Claudio BoniventoLuca GentiliAndrea PaoliPublished in: CDC (2004)
Keyphrases
- robot manipulators
- control scheme
- fault tolerant control
- control of robot manipulators
- control system
- force control
- dynamic model
- inverse kinematics
- control strategy
- closed loop
- control law
- nonlinear systems
- pid controller
- end effector
- stability analysis
- fuzzy controller
- control method
- neural network
- machine learning