Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric Identification.
Shohei HaganeLiz Katherine Rincon ArdilaTakuma KatsumataVincent BonnetPhilippe FraisseGentiane VenturePublished in: J. Robotics Mechatronics (2018)
Keyphrases
- force control
- robot arm
- control law
- control strategy
- adaptive control
- position control
- closed loop
- robot manipulators
- control strategies
- impedance control
- inverse kinematics
- dynamical systems
- control scheme
- motion planning
- nonlinear systems
- end effector
- control system
- control algorithm
- dynamic model
- optimal control
- visual servoing
- control architecture
- mathematical model
- control method
- path planning
- joint angles
- pid controller
- autonomous robots
- robotic manipulator
- input output