A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism.
Karim KhayatiPascal BigrasLouis-A. DessaintPublished in: IEEE Trans. Ind. Electron. (2006)
Keyphrases
- multistage
- force control
- robotic systems
- multi objective
- end effector
- robot manipulators
- closed loop
- robotic manipulator
- control architecture
- vision system
- control law
- impedance control
- control scheme
- evolutionary algorithm
- inverse kinematics
- optimization algorithm
- mobile robot
- visual servoing
- autonomous robots
- particle swarm optimization
- nonlinear systems
- control system
- dynamic model
- genetic algorithm
- objective function
- degrees of freedom
- dynamic programming
- pid controller
- robot arm
- control strategy
- fuzzy control
- multi robot
- motor control
- controller design
- control algorithm
- position and orientation
- fuzzy systems
- control method
- pose estimation
- optimal policy
- dynamic environments
- learning algorithm