Fast forward dynamics simulation of robot manipulators with highly frictional gears.

Naoki Wakisaka Ryo Kikuuwe Tomomichi Sugihara

Published in: ICRA (2016)

Keyphrases

robot manipulators
dynamic model
control of robot manipulators
inverse kinematics
sliding mode control
trajectory planning
control scheme
experimental data
decision making
pid controller
genetic algorithm
artificial neural networks
fault diagnosis
dynamical systems
end effector
tracking error