Closed-loop kinematic calibration of the RSI 6-DOF hand controller.
John M. HollerbachDavid M. LokhorstPublished in: IEEE Trans. Robotics Autom. (1995)
Keyphrases
- closed loop
- open loop
- degrees of freedom
- control law
- control system
- control scheme
- pid regulator
- feedback control
- end effector
- robotic manipulator
- pid controller
- parameter identification
- position control
- disturbance rejection
- parameter uncertainties
- control loop
- asymptotic stability
- force control
- pose estimation
- dc motor
- visual servoing
- trajectory tracking
- tracking error
- linear quadratic
- feedback controller
- induction motor
- joint angles
- fuzzy logic
- adaptive control
- lyapunov function
- vision system
- path planning
- variable structure
- fuzzy controller
- neural network
- inverse kinematics
- nonlinear systems