Position control of a torque-unit manipulator in consideration of all state variables.
Koji YoshidaRyuji OnodaHiroaki KawabataPublished in: IROS (2001)
Keyphrases
- position control
- state variables
- robotic manipulator
- force control
- end effector
- robot manipulators
- degrees of freedom
- control system
- control scheme
- state space
- dynamic systems
- robot arm
- closed loop
- inverse kinematics
- control strategy
- vision system
- pid controller
- control strategies
- random variables
- visual servoing
- robotic systems
- control method
- control law
- feedback loop
- motion planning
- dynamic model
- dc motor
- mathematical model
- dynamic programming
- sliding mode control
- contact force
- neural network
- robotic arm
- multiple models
- control architecture
- control parameters
- control algorithm