Path Tracking Control Of A Manipulator Considering Torque Saturation.
Hirohiko AraiKazuo TanieSusumu TachiPublished in: IROS (1992)
Keyphrases
- tracking control
- control law
- nonlinear systems
- control scheme
- control algorithm
- control system
- robot manipulators
- control method
- control strategy
- adaptive neural
- closed loop
- contact force
- degrees of freedom
- fuzzy controller
- dynamic model
- fuzzy model
- neural network
- tracking error
- path planning
- master slave
- vision system
- regression model
- lyapunov function
- adaptive control
- rule base
- pid controller
- artificial intelligence