Experimental verification for robust adaptive control of an underactuated robot manipulator with second-order nonholonomic constraints.
Jin-Ho ShinJu-Jang LeePublished in: IROS (2000)
Keyphrases
- robot manipulators
- experimental verification
- sliding mode
- trajectory planning
- motion planning
- control scheme
- force control
- inverse kinematics
- sliding mode control
- mechanical systems
- end effector
- control of robot manipulators
- kinematic constraints
- dynamic model
- variable structure
- receding horizon
- feedback control
- control law
- pid controller
- control strategy
- control system
- degrees of freedom
- autonomous control
- fuzzy neural network
- path planning
- artificial neural networks
- collision avoidance
- fuzzy logic
- tracking control
- closed loop