A hybrid teleoperation control scheme for a single-arm mobile manipulator with omnidirectional wheels.
Alberto PepeDavide ChiaravalliClaudio MelchiorriPublished in: IROS (2016)
Keyphrases
- control scheme
- closed loop
- robotic manipulator
- human arm
- position control
- dynamic model
- control system
- predictive control
- robotic arm
- control strategy
- controller design
- robot manipulators
- motion planning
- control loop
- pid controller
- control law
- neural model
- vision system
- fuzzy controller
- tracking error
- induction motor
- fuzzy logic controller
- neural network controller
- mobile robot
- external disturbances
- neural network