Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties.
Yuan ChenGuang-Ying MaShuxia LinShurong NingJun GaoPublished in: IMA J. Math. Control. Inf. (2016)
Keyphrases
- robot manipulators
- control scheme
- force control
- dynamic model
- control strategy
- control of robot manipulators
- structured data
- inverse kinematics
- trajectory planning
- end effector
- sliding mode control
- control system
- sliding mode
- unstructured data
- real time
- induction motor
- variable structure
- genetic algorithm
- decision making
- neural network
- control method
- expert systems
- fuzzy logic