Prescribed performance adaptive control for robot force/position tracking.
Charalampos P. BechlioulisZoe DoulgeriGeorge A. RovithakisPublished in: CCA/ISIC (2009)
Keyphrases
- position tracking
- adaptive control
- position control
- force control
- control law
- closed loop
- control scheme
- control method
- control strategy
- nonlinear systems
- robot arm
- control system
- pid controller
- robot manipulators
- robotic manipulator
- end effector
- feedback control
- visual servoing
- control algorithm
- variable structure
- dynamic environments
- pid control
- optimal control
- control strategies
- autonomous robots
- feedback loop
- motion planning
- mobile robot
- control architecture
- dc motor
- vision system
- multi modal
- degrees of freedom
- real time
- fuzzy control
- inverse kinematics
- dynamic model
- human hand
- dynamical systems
- human computer interaction