An anthropomorphic robot arm driven by artificial muscles using a variable structure control.
Mustapha HamerlainPublished in: IROS (1) (1995)
Keyphrases
- robot arm
- variable structure
- control law
- control strategy
- control strategies
- control theory
- sliding mode
- adaptive control
- nonlinear systems
- control system
- closed loop
- control algorithm
- control method
- motion planning
- control scheme
- optimal control
- fuzzy control
- position and orientation
- dynamical systems
- least squares
- pid controller
- fuzzy controller
- autonomous robots
- mathematical model
- sliding mode control
- real time
- control parameters
- path planning
- evolutionary algorithm
- neural network