RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control.
Omar RayyanVinicius Mariano GonçalvesNikolaos EvangeliouAnthony TzesPublished in: ICAR (2023)
Keyphrases
- trajectory tracking
- control system
- closed loop
- bi directional
- control method
- dynamic model
- iterative learning
- control law
- physical constraints
- sliding mode
- visual servoing
- iterative learning control
- wheeled mobile robots
- end effector
- neural network controller
- control strategy
- control algorithm
- parallel manipulator
- stability analysis
- robot manipulators
- feedback control
- control theory
- control scheme
- vision system
- variable structure
- adaptive control
- desired trajectory
- error reduction
- degrees of freedom
- dynamical systems
- experimental data
- neural network