Robust adaptive control of underactuated robot manipulators in Cartesian space.
Jin-Ho ShinJu-Jang LeePublished in: IROS (1997)
Keyphrases
- robot manipulators
- control of robot manipulators
- control scheme
- mechanical systems
- trajectory planning
- sliding mode control
- adaptive controller
- end effector
- inverse kinematics
- dynamic model
- receding horizon
- sliding mode
- motion planning
- search space
- real time
- control system
- control strategy
- particle swarm optimization
- computational intelligence