A Control Strategy Based on Trajectory Planning and Optimization for Two-Link Underactuated Manipulators in Vertical Plane.
Lejun WangXuzhi LaiPan ZhangMin WuPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2022)
Keyphrases
- trajectory planning
- motion planning
- control strategy
- control law
- path planning
- degrees of freedom
- control scheme
- robot manipulators
- control method
- control algorithm
- control system
- mobile robot
- mathematical model
- control strategies
- obstacle avoidance
- fuzzy neural network
- optimal control
- force control
- multi robot
- global optimization
- predictive control
- humanoid robot
- fuzzy controller
- sliding mode control
- adaptive control
- optimization algorithm
- sliding mode
- speed control
- dynamic environments
- pose estimation
- mechanical systems
- neural network
- deep brain stimulation
- variable structure
- closed loop
- expert systems