Force and position control of robot manipulator using neurocontroller with GA based training.
Kunihiko NakazonoMasahiro KatagiriHiroshi KinjoTetsuhiko YamamotoPublished in: CIRA (2003)
Keyphrases
- position control
- robot manipulators
- force control
- control scheme
- end effector
- inverse kinematics
- impedance control
- closed loop
- pid controller
- dynamic model
- control system
- robotic manipulator
- control strategy
- control law
- degrees of freedom
- genetic algorithm ga
- simulated annealing
- computer vision
- genetic algorithm
- real time
- control method
- neural network
- fitness function
- robot arm
- vision system
- evolutionary algorithm
- artificial neural networks