Development of a position control scheme for rotating sensor unit attached to in-pipe robot.
Hideki WadaMasahiro OyaKatsuhiro OkumuraPublished in: Artif. Life Robotics (2012)
Keyphrases
- control scheme
- robot manipulators
- control loop
- position control
- closed loop
- control system
- robot moves
- robotic manipulator
- end effector
- control strategy
- heat exchanger
- dynamic model
- mobile robot
- human arm
- force control
- inverse kinematics
- position and orientation
- controller design
- neural model
- predictive control
- control law
- tracking error
- pid controller
- visual servoing
- path planning
- vision system
- control architecture
- robotic arm
- particle swarm optimization