Sliding-mode position control of robot joint based on self-adaptive parameters adjusting.
Guanjun BaoQingfeng ZhangJunyi LuYi XunQinghua YangPublished in: ROBIO (2010)
Keyphrases
- position control
- control scheme
- sliding mode
- robot manipulators
- force control
- end effector
- closed loop
- control strategy
- robotic manipulator
- control law
- control parameters
- pid controller
- control system
- control strategies
- robot arm
- sliding mode control
- operating conditions
- variable structure
- inverse kinematics
- dynamic model
- visual servoing
- mobile robot
- robotic systems
- control architecture
- dc motor
- chaotic systems
- stability analysis
- real time
- fuzzy controller
- control algorithm
- neural network
- vision system
- optimization algorithm
- mathematical model
- path planning
- motion planning
- control method