Derivation of nonlinear dynamic model of novel pneumatic artificial muscle manipulator with a magnetorheological brake.
Hiroki TomoriYuichiro MidorikawaTaro NakamuraPublished in: AMC (2012)
Keyphrases
- dynamic model
- robot manipulators
- degrees of freedom
- parallel manipulator
- force control
- trajectory tracking
- nonlinear model predictive control
- neural network controller
- experimental data
- control system
- control scheme
- inverse kinematics
- controller design
- variable structure
- end effector
- multiple models
- real time
- sliding mode
- pose estimation
- vision system
- model predictive control
- robot arm
- nonlinear dynamics
- closed loop
- dynamical systems
- mathematical model
- unscented kalman filter
- neural network