Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition.
Wen-Hong ZhuJoris De SchutterPublished in: ICRA (1997)
Keyphrases
- adaptive control
- robot manipulators
- adaptive controller
- variable structure
- control method
- control scheme
- pid controller
- feedback control
- control law
- nonlinear systems
- inverse kinematics
- dynamic environments
- end effector
- closed loop
- control strategy
- dynamic model
- real time
- machine learning
- reinforcement learning
- control system
- chaotic systems
- multi objective
- path planning
- genetic algorithm ga
- support vector machine svm