Real-time decentralized neural block controller for a robot manipulator.
Ramón García-HernándezEdgar N. SánchezVíctor SantibáñezMiguel A. LlamaEduardo Bayro-CorrochanoPublished in: IROS (2009)
Keyphrases
- robot manipulators
- real time
- control scheme
- force control
- control system
- control of robot manipulators
- sliding mode control
- pid controller
- neural network
- dynamic model
- control strategy
- closed loop
- trajectory planning
- control architecture
- sliding mode
- control algorithm
- fuzzy controller
- control law
- inverse kinematics
- end effector
- tracking error
- vision system
- learning algorithm