Model free position-force control of environmental constrained reconfigurable manipulators based on adaptive dynamic programming.
Bing MaXiming YaoTianjiao AnBo DongYuanchun LiPublished in: Artif. Intell. Rev. (2023)
Keyphrases
- model free
- impedance control
- force control
- dynamic programming
- reinforcement learning
- adaptive control
- optimal control
- control law
- position control
- function approximation
- robot manipulators
- closed loop
- control strategy
- contact force
- master slave
- control algorithm
- end effector
- policy iteration
- control system
- control scheme
- robotic systems
- infinite horizon
- artificial neural networks
- real time
- visual servoing
- state space
- markov decision processes
- basis functions
- optimal policy