Inverse dynamics position control of a compliant manipulator.
M. G. Forrest-BarlachScott M. BabcockPublished in: IEEE J. Robotics Autom. (1987)
Keyphrases
- inverse dynamics
- position control
- parallel manipulator
- degrees of freedom
- end effector
- robotic manipulator
- control scheme
- force control
- dynamic model
- robot arm
- nonlinear systems
- robot manipulators
- inverse kinematics
- vision system
- control law
- motion planning
- closed loop
- control system
- feedback loop
- pose estimation
- visual servoing
- control strategies
- configuration space
- fuzzy logic
- force feedback
- dynamic programming
- position and orientation
- fuzzy sets
- fuzzy model
- control strategy
- control algorithm
- pid controller