Simultaneous identification of kinematic screw and joint compliance of elastic robot manipulators using deflected circular trajectories.
Youngsu ChoMunyu KimJoono CheongHyunmin DoJin Ho KyungPublished in: AIM (2017)
Keyphrases
- robot manipulators
- inverse kinematics
- joint angles
- end effector
- trajectory planning
- kinematic model
- control of robot manipulators
- control scheme
- kinematic constraints
- joint space
- configuration space
- sliding mode control
- pid controller
- dynamic model
- position and orientation
- degrees of freedom
- sliding mode
- particle swarm optimization
- moving objects
- artificial intelligence