A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments.
Rafael KellyJesús SandovalVíctor SantibáñezPublished in: IEEE Trans. Control. Syst. Technol. (2021)
Keyphrases
- position tracking
- robot manipulators
- position control
- force control
- control scheme
- end effector
- closed loop
- inverse kinematics
- robotic manipulator
- pid controller
- dynamic model
- control strategy
- control system
- sliding mode
- sliding mode control
- dynamic environments
- control law
- degrees of freedom
- fuzzy neural network
- fuzzy controller
- control algorithm
- control strategies
- feedback loop
- robot arm
- induction motor
- evolutionary algorithm