A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment.
Reza MohajerpoorSeyed Mehdi RezaeiHeidar A. TalebiM. NoorhosseiniReza MonfarediPublished in: J. Syst. Control. Eng. (2012)
Keyphrases
- position control
- control scheme
- robotic manipulator
- robotic systems
- control law
- closed loop
- control system
- dynamic model
- degrees of freedom
- control loop
- parallel manipulator
- predictive control
- control strategy
- external disturbances
- force control
- pid controller
- robot arm
- robot manipulators
- mobile robot
- control architecture
- neural network controller
- nonlinear systems
- controller design
- control strategies
- autonomous robots
- induction motor
- adaptive control
- motion planning
- fuzzy controller
- dynamic environments
- human arm
- feedback loop
- tracking error
- dc motor
- vision system
- fuzzy logic