A Simple Robust Control Scheme for Robot Manipulators With Only Joint Position Measurements.
Weining FengIan PostlethwaitePublished in: Int. J. Robotics Res. (1993)
Keyphrases
- robot manipulators
- control scheme
- position control
- end effector
- human arm
- closed loop
- force control
- dynamic model
- inverse kinematics
- control system
- control strategy
- sliding mode control
- predictive control
- control law
- robotic manipulator
- pid controller
- sliding mode
- control loop
- fuzzy controller
- tracking error
- variable structure
- mathematical model
- experimental data
- joint angles
- artificial neural networks
- computational intelligence
- external disturbances
- fuzzy control