Real-Time Safety and Control of Robotic Manipulators with Torque Saturation in Operational Space.
Muhammad Ali MurtazaSergio AguileraVahid AzimiSeth HutchinsonPublished in: IROS (2021)
Keyphrases
- robotic manipulator
- control scheme
- real time
- control system
- position control
- control strategy
- visual servoing
- robotic systems
- control algorithm
- control center
- induction motor
- closed loop
- degrees of freedom
- joint space
- dynamic model
- end effector
- fuzzy logic
- control method
- fuzzy controller
- pid controller
- vision system
- image space
- mathematical model
- benchmark datasets
- air traffic
- d objects
- computer vision