Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives.
Oscar GerelliCorrado Guarino Lo BiancoPublished in: IROS (2008)
Keyphrases
- tracking control
- robotic manipulator
- control law
- control algorithm
- real time
- control scheme
- control system
- visual servoing
- dynamic model
- nonlinear systems
- position control
- degrees of freedom
- closed loop
- control strategy
- adaptive control
- end effector
- tracking error
- fuzzy controller
- control method
- action recognition
- contact force
- least squares
- genetic algorithm