On Line Optimal Control of Robots for Tracking without Inverse Kinematics.
Alejandro Rodríguez-AngelesCarlos Alberto Cruz VillarDavid Muro MaldonadoPublished in: Computación y Sistemas (2009)
Keyphrases
- optimal control
- inverse kinematics
- joint angles
- robot manipulators
- robot arm
- dynamic programming
- control problems
- motion planning
- position and orientation
- mobile robot
- lyapunov function
- control law
- feedback control
- optimal control problems
- tracking error
- end effector
- real time
- particle filter
- multi robot
- robotic systems
- control strategy
- object tracking
- reinforcement learning
- humanoid robot
- degrees of freedom
- linear quadratic
- fuzzy systems
- robot control
- dynamic model
- multi modal
- learning algorithm