Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix.
Shinichi SagaraYuichiro TairaPublished in: Artif. Life Robotics (2008)
Keyphrases
- robot manipulators
- jacobian matrix
- adaptive controller
- tracking error
- control scheme
- sliding mode control
- inverse kinematics
- sliding mode
- pid controller
- variable structure
- control system
- control method
- dynamic model
- joint angles
- control strategy
- end effector
- adaptive control
- control theory
- control law
- gauss newton
- closed loop
- support vector
- control algorithm
- search space
- pseudo inverse
- fuzzy controller
- genetic algorithm ga