Optimal Nonlinear Position Tracking Control of a Two-Link Flexible-Joint Robot Manipulator.

Tarek Lahdhiri Hoda A. ElMaraghy

Published in: ISER (1997)

Keyphrases

robot manipulators
position tracking
force control
position control
control scheme
control of robot manipulators
end effector
inverse kinematics
control strategy
dynamic model
optimal control
control system
closed loop
joint angles
robotic manipulator