Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model.
Daichi HiranoYusuke FujiiSatoko AbikoRoberto LamparielloKenji NagaokaKazuya YoshidaPublished in: ICRA (2014)
Keyphrases
- dynamic model
- robot manipulators
- trajectory tracking
- endpoints
- end effector
- motion control
- inverse kinematics
- control signals
- space time
- parallel manipulator
- experimental data
- robot motion
- physical constraints
- humanoid robot
- control scheme
- control system
- mobile robot
- controller design
- sagittal plane
- visual servoing
- configuration space
- reduced order model
- image sequences
- position and orientation
- closed loop
- autonomous robots
- robot control
- robotic systems
- motion planning
- human motion
- path planning
- motion model
- control law
- sliding mode control
- multiple models
- velocity field
- optical flow