A Closed Loop Inverse Kinematics and Control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator.
Yukun ZhengHongxiang YuanRui SongXin MaYibin LiPublished in: ROBIO (2019)
Keyphrases
- control scheme
- inverse kinematics
- closed loop
- robot manipulators
- joint angles
- position control
- end effector
- robotic manipulator
- force control
- control law
- open loop
- control system
- pid controller
- control loop
- feedback control
- controller design
- robot arm
- fuzzy controller
- trajectory tracking
- feedback controller
- sliding mode control
- nonlinear systems
- sliding mode
- control strategy
- dc motor
- limit cycle
- induction motor
- neural network controller
- position and orientation
- dynamic model
- real time
- tracking error
- robotic arm
- neural network
- visual servoing