Algorithmic singularities avoidance in task-priority based controller for redundant manipulators.
Giacomo MaraniJinhyun KimJunku YuhWan Kyun ChungPublished in: IROS (2003)
Keyphrases
- inverse kinematics
- control system
- path planning
- closed loop
- optimal control
- control architecture
- control method
- adaptive control
- real time
- controller design
- neural network
- control algorithm
- fuzzy controller
- matlab simulation
- operating conditions
- pid controller
- control scheme
- control strategy
- dynamic model
- feedback control
- evolutionary algorithm
- adaptive fuzzy
- motion control
- adaptive neural
- control rules
- data sets