Path tracking control of a manipulator considering torque saturation.
Hirohiko AraiKazuo TanieSusumu TachiPublished in: IEEE Trans. Ind. Electron. (1994)
Keyphrases
- tracking control
- nonlinear systems
- control law
- control scheme
- control algorithm
- robot manipulators
- control method
- control system
- control strategy
- contact force
- adaptive control
- dynamic model
- adaptive neural
- closed loop
- degrees of freedom
- fuzzy controller
- neural network
- adaptive fuzzy
- fuzzy model
- master slave
- regression model
- tracking error
- genetic algorithm
- lyapunov function
- experimental data
- path planning