A Left-inverse Non-linear Controller to a RRR Manipulator.
Igor LopesSamaherni DiasKurios QueirozPublished in: LARS/SBR/WRE (2020)
Keyphrases
- control system
- control method
- robotic manipulator
- trajectory tracking
- closed loop
- robot manipulators
- contact force
- control scheme
- force control
- control algorithm
- computer controlled
- control strategy
- optimal control
- pid controller
- degrees of freedom
- control law
- pi control
- real time
- controller design
- fuzzy controller
- disturbance rejection
- inverse kinematics
- vision system
- parallel manipulator
- lyapunov function
- operating conditions
- dc motor
- path planning
- sliding mode control
- mathematical model
- laparoscopic surgery
- dynamic model
- adaptive fuzzy
- fuzzy control
- control theory