A discrete-time adaptive control scheme for robot manipulators.
Mahmoud TarokhPublished in: J. Field Robotics (1990)
Keyphrases
- robot manipulators
- control scheme
- control of robot manipulators
- closed loop
- force control
- control system
- inverse kinematics
- dynamic model
- control strategy
- control law
- pid controller
- sliding mode control
- predictive control
- control loop
- markov chain
- end effector
- tracking error
- adaptive control
- pi control
- sliding mode
- fuzzy controller
- control strategies
- real time