A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors.
Baibo WuLingyun ZengYang ZhengShu'an ZhangXiangyang ZhuKai XuPublished in: ROBIO (2019)
Keyphrases
- closed loop
- inverse kinematics
- end effector
- control law
- joint angles
- control system
- control scheme
- robot manipulators
- trajectory tracking
- degrees of freedom
- open loop
- pid controller
- robot arm
- visual servoing
- feedback control
- force control
- robotic manipulator
- nonlinear systems
- adaptive control
- motion planning
- controller design
- neural network controller
- feedback controller
- real time
- vision system
- position and orientation
- guaranteed cost
- robotic arm
- tracking error
- fuzzy logic
- control strategies
- disturbance rejection
- desired trajectory
- reference trajectory
- adaptive fuzzy
- human body
- dynamic model
- contact force
- control algorithm
- flight test
- fuzzy controller
- iterative learning control
- visual data