Stability analysis of a joint space control law for a two-manipulator system.
Fabrizio CaccavalePasquale ChiacchioStefano ChiaveriniPublished in: IEEE Trans. Autom. Control. (1999)
Keyphrases
- stability analysis
- control law
- end effector
- joint space
- nonlinear systems
- closed loop
- visual servoing
- robot arm
- control system
- adaptive control
- control scheme
- control algorithm
- control strategy
- optimal control
- motion planning
- degrees of freedom
- dynamical systems
- sliding mode
- variable structure
- inverse kinematics
- robot manipulators
- stability margin
- autonomous robots
- control parameters
- real time
- fuzzy neural network
- linear model
- fuzzy controller
- control method
- vision system
- fault tolerant control