Effect of motor dynamics on nonlinear feedback robot arm control.
Tzyh Jong TarnAntal K. BejczyXiaoping YunZuofeng LiPublished in: IEEE Trans. Robotics Autom. (1991)
Keyphrases
- robot arm
- skill learning
- highly nonlinear
- control strategies
- control system
- position control
- end effector
- nonlinear dynamics
- motion planning
- inverse kinematics
- external disturbances
- motor skills
- control law
- natural actor critic
- control strategy
- position and orientation
- optimal control
- dynamic model
- nonlinear systems
- control method
- visual feedback
- dynamical systems
- neural network
- degrees of freedom
- closed loop
- regression model
- rough sets
- mobile robot
- reinforcement learning