A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: an application to sawing task.
Hee-Joo YeoIl Hong SuhByung-Ju YiSang-Rok OhPublished in: IEEE Trans. Robotics Autom. (1999)
Keyphrases
- closed loop
- open loop
- position control
- control system
- feedback control
- kinematic chain
- control scheme
- control loop
- guaranteed cost
- control law
- disturbance rejection
- force control
- robotic manipulator
- trajectory tracking
- reference trajectory
- human body
- parameter identification
- adaptive control
- articulated objects
- induction motor
- control strategies
- feedback controller
- dc motor
- external disturbances
- asymptotic stability
- inverted pendulum
- pid controller
- optimal control
- control strategy
- adaptive fuzzy
- control method
- control algorithm
- tracking error
- robot manipulators
- controller design
- flight test
- limit cycle
- dynamic model
- linear quadratic
- dynamic environments
- sufficient conditions