Motion control scheme for a snake-like robot.
Karl L. PaapFrank KirchnerBernhard KlaassenPublished in: CIRA (1999)
Keyphrases
- control scheme
- robot manipulators
- inverse kinematics
- end effector
- control loop
- closed loop
- human arm
- robotic manipulator
- humanoid robot
- force control
- control system
- control strategy
- dynamic model
- control law
- controller design
- position control
- mobile robot
- motion planning
- predictive control
- fuzzy controller
- pid controller
- path planning
- visual servoing
- tracking error
- position and orientation
- configuration space
- sliding mode
- sliding mode control
- neural network controller
- trajectory tracking
- joint angles
- robotic arm
- image sequences
- robot arm
- motion capture
- vision system
- control architecture
- robotic systems
- degrees of freedom
- numerical simulations
- camera motion
- optical flow
- real time
- collision free
- robot control
- multi robot
- dynamic environments
- desired trajectory