Verification of robust position control on a cross-coupled 2-DOF direct drive actuator.
Shodai TanakaTomoyuki ShimonoYasutaka FujimotoPublished in: IECON (2015)
Keyphrases
- position control
- robotic manipulator
- direct drive
- control scheme
- cnc machine tools
- closed loop
- control system
- force control
- degrees of freedom
- control strategies
- robotic systems
- end effector
- dc motor
- feedback loop
- robot arm
- visual servoing
- pid controller
- dynamic model
- control law
- robot manipulators
- control architecture
- fuzzy logic controller
- control strategy