Trajectory tracking of redundant manipulators based on avoidance manipulability shape index.
Hiroshi TanakaMamoru MinamiYasushi MaePublished in: IROS (2005)
Keyphrases
- shape index
- trajectory tracking
- closed loop
- bi directional
- dynamic model
- iterative learning
- physical constraints
- control system
- control law
- control method
- visual servoing
- sliding mode
- surface features
- path planning
- control algorithm
- control scheme
- control strategy
- neural network structure
- stability analysis
- image structure
- surface patches
- degrees of freedom
- experimental data
- least squares