Tip Trajectory Tracking of Flexible-Joint Manipulators Driven by Harmonic Drives.

Hamid Salmasi Reza Fotouhi Peter N. Nikiforuk

Published in: Int. J. Robotics Autom. (2009)

Keyphrases

trajectory tracking
control law
closed loop
control system
bi directional
control method
adaptive control
iterative learning
iterative learning control
dynamic model
physical constraints
sliding mode
robotic systems
wheeled mobile robots
control scheme
control algorithm
control theory
visual servoing
optimal control