A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator.
Warren E. DixonD. MosesIan D. WalkerDarren M. DawsonPublished in: IROS (2001)
Keyphrases
- robot manipulators
- robotic manipulator
- control scheme
- control system
- end effector
- matlab simulink
- force control
- control of robot manipulators
- control strategy
- pid controller
- inverse kinematics
- trajectory planning
- dynamic model
- control algorithm
- control method
- closed loop
- robotic arm
- simulation model
- sliding mode
- robotic systems
- real time
- degrees of freedom
- robot programming
- visual servoing
- control law
- mobile robot
- human operators
- fuzzy controller
- objective function