An Online Self Gain Tuning Computed Torque Controller for A Five-Bar Manipulator.
Tien-Dung LeHee-Jun KangYoung Soo SuhPublished in: ICIC (1) (2011)
Keyphrases
- contact force
- control system
- control algorithm
- control method
- control scheme
- real time
- online learning
- dynamic model
- robotic manipulator
- control strategy
- robot manipulators
- force control
- parallel manipulator
- pid controller
- master slave
- closed loop
- trajectory tracking
- control law
- inverse kinematics
- adaptive fuzzy
- end effector
- parameter settings
- tuning parameters
- rule selection
- proportional integral derivative