Position control of a 3-DOF manipulator with a passive joint under a nonholonomic constraint.
Hirohiko AraiPublished in: IROS (1996)
Keyphrases
- position control
- robotic manipulator
- force control
- end effector
- degrees of freedom
- motion planning
- control law
- robot manipulators
- closed loop
- control scheme
- robot arm
- control system
- path planning
- inverse kinematics
- sliding mode
- mobile robot
- control strategy
- feedback control
- robotic systems
- visual servoing
- vision system
- pose estimation
- pid controller
- dc motor
- robotic arm
- feedback loop
- nonlinear systems
- control strategies
- control method
- control algorithm
- dynamic model
- adaptive control
- fuzzy controller
- joint angles
- multiple models
- autonomous robots