Trajectory planning and current control optimization of three degree-of-freedom spherical actuator.
Liang ZhangWeihai ChenLiang YanJingmeng LiuPublished in: IROS (2011)
Keyphrases
- trajectory planning
- control system
- robot manipulators
- motion planning
- control method
- global optimization
- path planning
- three dimensional
- obstacle avoidance
- pid controller
- control scheme
- control strategy
- damage assessment
- neural network
- optimization algorithm
- dynamic environments
- control algorithm
- degrees of freedom
- fuzzy neural network
- multi modal
- fuzzy logic
- genetic algorithm