Hybrid position/force sliding mode control of a class of robotic manipulators.
Ezio BassiFrancesco BenziLuca Massimiliano CapisaniDavide CupponeAntonella FerraraPublished in: CDC (2009)
Keyphrases
- position control
- robotic manipulator
- sliding mode control
- robot manipulators
- force control
- control scheme
- control strategy
- end effector
- control system
- closed loop
- robotic systems
- degrees of freedom
- robot arm
- pid controller
- adaptive fuzzy
- visual servoing
- inverse kinematics
- control strategies
- adaptive neural
- chaotic systems
- neural network
- control algorithm
- genetic algorithm
- multiple models
- artificial neural networks