An exponentially stable adaptive control for force and position tracking of robot manipulators.
Luigi VillaniCarlos Canudas de WitBernard BrogliatoPublished in: IEEE Trans. Autom. Control. (1999)
Keyphrases
- robot manipulators
- position tracking
- force control
- adaptive control
- adaptive controller
- position control
- control scheme
- control law
- control method
- variable structure
- pid controller
- nonlinear systems
- inverse kinematics
- closed loop
- end effector
- feedback control
- control strategy
- dynamic model
- dynamic environments
- control system
- robotic manipulator
- reinforcement learning
- pid control
- fuzzy neural network
- real time
- control algorithm
- input output
- computer vision
- neural network