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Operating robot manipulators through kinematic singularities using a continuously sliding mode control.

Tai-Heng ChangYildirim Hurmuzlu
Published in: J. Field Robotics (1994)
Keyphrases
  • sliding mode control
  • robot manipulators
  • inverse kinematics
  • end effector
  • control scheme
  • sliding mode
  • real time
  • dynamic model
  • fuzzy neural network
  • pid controller
  • feature selection