Robust control for robot manipulators by using only joint position measurements.
Shafiqul IslamPeter X. LiuPublished in: SMC (2009)
Keyphrases
- robot manipulators
- end effector
- force control
- position control
- inverse kinematics
- control scheme
- control of robot manipulators
- sliding mode control
- trajectory planning
- sliding mode
- dynamic model
- adaptive controller
- control system
- vision system
- joint angles
- degrees of freedom
- linear combination
- position and orientation
- variable structure
- visual servoing
- learning algorithm
- experimental data
- mathematical model
- artificial neural networks
- expert systems