A Lyapunov-based design tool of impedance controllers for robot manipulators.
Marco MendozaIsela BonillaFernando Reyes-CortésEmilio J. González-GalvánPublished in: Kybernetika (2012)
Keyphrases
- robot manipulators
- design tools
- control scheme
- control law
- control system
- control strategy
- sliding mode
- closed loop
- force control
- tracking error
- computer aided
- inverse kinematics
- adaptive control
- control theory
- nonlinear systems
- pid controller
- dynamic model
- variable structure
- stability analysis
- fuzzy controller
- optimal control
- mathematical model
- control algorithm
- instructional design
- control strategies
- end effector
- real time
- control method
- social networks
- dynamical systems
- reinforcement learning
- case study
- genetic algorithm