Exponential Auto-Tuning Fault-Tolerant Control of N Degrees-of-Freedom Manipulators Subject to Torque Constraints.
Mehdi Heydari ShahnaJouni MattilaPublished in: CoRR (2023)
Keyphrases
- degrees of freedom
- motion planning
- joint space
- fault tolerant control
- motion tracking
- pose estimation
- parallel manipulator
- path planning
- control scheme
- stability analysis
- articulated objects
- computer vision
- minimally invasive surgery
- control law
- control algorithm
- real time
- robotic arm
- dynamic model
- reinforcement learning
- articulated hand