Design of a Computed Torque Controller based Joint Controller for PUMA 560 Manipulator.
Shanaka Ramesh GunasekaraLilantha SamaranayakeNalin HarischandraPublished in: ICIIS (2021)
Keyphrases
- robotic manipulator
- control system
- controller design
- control algorithm
- control scheme
- control method
- contact force
- control strategy
- position control
- dynamic model
- optimal control
- closed loop
- design process
- real time
- force control
- control architecture
- user interface
- controller synthesis
- fuzzy logic control
- dc motor
- adaptive fuzzy
- adaptive control
- numerical simulations
- evolutionary algorithm
- neural network