Generalized PI control for global position regulation of flexible joint robot manipulators.

Victor M. Hernández Herbertt Sira-Ramirez

Published in: ACC (2003)

Keyphrases

robot manipulators
control scheme
pi control
end effector
inverse kinematics
dynamic model
closed loop
fuzzy controller
control strategy
control system
real time
data mining
neural network
pid controller
joint angles
degrees of freedom
fuzzy logic
control law
knowledge base