Intelligent Compliance Control for Robot Manipulators Using Adaptive Stiffness Characteristics.
Byoung-Ho KimNak Young ChongSang-Rok OhIl Hong SuhYoung-Jo ChoPublished in: ICRA (1999)
Keyphrases
- robot manipulators
- control of robot manipulators
- adaptive controller
- force control
- control scheme
- inverse kinematics
- sliding mode control
- end effector
- impedance control
- trajectory planning
- sliding mode
- dynamic model
- control system
- tracking error
- pid controller
- control method
- adaptive neural
- adaptive control
- evolutionary algorithm
- real time
- fuzzy neural network
- vision system
- fuzzy logic
- artificial intelligence
- genetic algorithm
- neural network