Neural-network-based robust hybrid force/position controller for a constrained robot manipulator with uncertainties.
Mohammad-Hossein GhajarMehdi KeshmiriJavad BahramiPublished in: Trans. Inst. Meas. Control (2018)
Keyphrases
- position control
- robot manipulators
- force control
- control scheme
- end effector
- impedance control
- robotic manipulator
- inverse kinematics
- pid controller
- closed loop
- control of robot manipulators
- dynamic model
- sliding mode control
- trajectory planning
- control strategy
- control system
- sliding mode
- neural network
- control law
- robot arm
- degrees of freedom
- vision system
- wheeled mobile robot
- control architecture
- fuzzy controller
- real time