An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears.
Soheil Ahangarian AbhariFarzad HashemzadehMahdi BaradaranniaHamed KharratiPublished in: Trans. Inst. Meas. Control (2019)
Keyphrases
- robot manipulators
- control scheme
- closed loop
- force control
- control system
- inverse kinematics
- control strategy
- pid controller
- dynamic model
- predictive control
- sliding mode control
- external disturbances
- control loop
- end effector
- robotic manipulator
- fuzzy controller
- control law
- sliding mode
- position control
- tracking error
- real time
- mathematical model
- degrees of freedom