Trajectory scaling for a manipulator inverse dynamics control subject to generalized force derivative constraints.
Corrado Guarino Lo BiancoOscar GerelliPublished in: IROS (2009)
Keyphrases
- parallel manipulator
- inverse dynamics
- robotic manipulator
- end effector
- degrees of freedom
- force control
- control system
- trajectory tracking
- control method
- robot manipulators
- dynamic model
- physical constraints
- hand eye
- robotic arm
- control parameters
- vision system
- master slave
- optimal control
- control strategy
- visual servoing
- control strategies
- nonlinear systems
- real time
- control law
- closed loop
- mathematical model
- neural network