Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control.
Tien C. HsiaPublished in: J. Field Robotics (1994)
Keyphrases
- robot manipulators
- control system
- force control
- control scheme
- control of robot manipulators
- real time
- control strategy
- variable structure
- neural network
- sliding mode control
- feedback control
- adaptive control
- optimal control
- mobile robot
- control architecture
- controller design
- control strategies
- inverted pendulum
- pid controller
- sliding mode