Trajectory Planning of Knife Position of Slitter Robot Based on Identification of Friction and Viscous Damping, and Position Control Experiments.
Hiroyuki KojimaDaiki OriharaYamato MatsudaYusuke InoueHiroyuki NegishiPublished in: Int. J. Autom. Technol. (2008)
Keyphrases
- position control
- trajectory planning
- robot manipulators
- force control
- control scheme
- end effector
- motion planning
- robot arm
- dynamic model
- control strategy
- degrees of freedom
- inverse kinematics
- robotic manipulator
- path planning
- control system
- obstacle avoidance
- control law
- control strategies
- closed loop
- experimental data
- force feedback
- mathematical model
- feedback loop
- fuzzy controller
- power system
- dc motor
- vision system
- fuzzy sets