A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.
Manuel KepplerDominic LakatosChristian OttAlin Albu-SchäfferPublished in: ICRA (2016)
Keyphrases
- trajectory tracking
- closed loop
- open loop
- control law
- dynamic model
- control strategy
- physical constraints
- control scheme
- control system
- sliding mode
- autonomous robots
- lyapunov function
- iterative learning control
- feedback control
- mobile robot
- control method
- nonlinear systems
- control algorithm
- adaptive control
- visual servoing
- bi directional
- optimal control
- control theory
- desired trajectory
- multi robot
- pid controller
- robotic systems
- dynamical systems
- robot control
- motion planning
- iterative learning
- tracking error
- force control
- mathematical model
- variable structure
- power system
- real time
- humanoid robot
- neural network