Applying Wave-Variable-Based Sliding Mode Impedance Control for Robot Teleoperation.
Hsiu-Jen LiuKuu-Young YoungPublished in: Int. J. Robotics Autom. (2011)
Keyphrases
- robot manipulators
- force control
- sliding mode
- impedance control
- end effector
- control strategy
- sliding mode control
- control scheme
- control law
- inverse kinematics
- variable structure
- control architecture
- manipulation tasks
- robotic manipulator
- position control
- closed loop
- force feedback
- robotic arm
- mobile robot
- dynamic model
- real time
- master slave
- robotic systems
- robot arm
- optimal control
- control strategies
- stability analysis
- degrees of freedom
- vision system
- genetic algorithm
- adaptive control
- autonomous robots
- control method
- control algorithm
- mathematical model