Backstepping adaptive hybrid force/position control for robotic manipulators.
Donatien Nganga-KouyaMaarouf SaadL. LamarchePublished in: ACC (2002)
Keyphrases
- position control
- robotic manipulator
- closed loop
- control scheme
- force control
- control strategy
- control law
- control system
- degrees of freedom
- control strategies
- robotic systems
- visual servoing
- robot arm
- end effector
- adaptive control
- feedback loop
- control algorithm
- nonlinear systems
- reinforcement learning
- dynamic model
- multiple models
- fuzzy logic