Active Compliance Control Based on EKF Torque Fusion for Robot Manipulators.
Gao WangZhuo WangBo HuangYahui GanFeiyan MinPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- robot manipulators
- control scheme
- dynamic model
- force control
- control of robot manipulators
- control system
- inverse kinematics
- control strategy
- adaptive controller
- induction motor
- sliding mode control
- closed loop
- end effector
- sliding mode
- control method
- kalman filter
- pid controller
- control law
- variable structure
- fuzzy neural network
- fuzzy controller
- control strategies
- adaptive control
- genetic algorithm
- control algorithm
- data fusion
- linear combination
- artificial neural networks