A new model based tracking controller for robot manipulators using the trajectory pattern inverse dynamics.
Behruz FardaneshJahangir RastegarPublished in: ICRA (1992)
Keyphrases
- robot manipulators
- model based tracking
- inverse dynamics
- trajectory planning
- control scheme
- parallel manipulator
- nonlinear systems
- dynamic model
- pid controller
- variable structure
- control law
- inverse kinematics
- sliding mode
- visual tracking
- end effector
- fuzzy controller
- closed loop
- control system
- control strategy
- fuzzy control
- adaptive control
- real time
- neural network
- fuzzy neural network
- dynamic programming
- control parameters
- optimal control
- decision making
- computer vision
- bp neural network