Sliding mode position/force control for constrained reconfigurable manipulator based on adaptive neural network.
Guogang WangBo DongShuai WuYuanchun LiPublished in: ICCAIS (2015)
Keyphrases
- force control
- robot manipulators
- sliding mode
- end effector
- control strategy
- control law
- inverse kinematics
- sliding mode control
- control scheme
- variable structure
- closed loop
- dynamic model
- control system
- control algorithm
- adaptive control
- fuzzy neural network
- nonlinear systems
- joint angles
- pid controller
- robotic manipulator
- control method
- visual servoing
- robotic arm
- optimal control
- neural network