Sensor-based Controller Tuning of Robot Manipulators by Real-time Optimization.
Cheng-Huei HanKyoungchul KongMasayoshi TomizukaPublished in: SyRoCo (2009)
Keyphrases
- robot manipulators
- real time
- control scheme
- control system
- pid controller
- sliding mode control
- adaptive controller
- inverse kinematics
- control of robot manipulators
- closed loop
- dynamic model
- global optimization
- sliding mode
- variable structure
- proportional integral derivative
- optimization algorithm
- social networks
- end effector
- vision system
- tracking error
- control law
- control strategy