Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions.
Yongwei ZouYusheng HuHuanhui CaoYuchen XuYuanjie YuWenjie LuHao XiongPublished in: IROS (2022)
Keyphrases
- control scheme
- data driven
- robot manipulators
- closed loop
- inverse kinematics
- dynamic model
- control system
- control strategy
- predictive control
- joint space
- controller design
- control law
- end effector
- neural model
- robotic manipulator
- mobile robot
- parallel robot
- control loop
- collision free
- pid controller
- fuzzy controller
- multi robot
- induction motor
- physical constraints
- sliding mode
- autonomous robots
- external disturbances
- neural network controller
- robotic systems
- motion planning
- position control
- joint angles
- heat exchanger
- experimental data