PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector.
Guohua KangQi ZhangJiaqi WuHan ZhangPublished in: Sensors (2020)
Keyphrases
- end effector
- control strategy
- control law
- position control
- force control
- robot manipulators
- control scheme
- robot arm
- degrees of freedom
- control strategies
- visual servoing
- inverse kinematics
- robotic manipulator
- vision system
- control algorithm
- control system
- control method
- optimal control
- operating conditions
- mathematical model
- nonlinear systems
- force feedback
- robotic arm
- fuzzy neural network
- adaptive control
- motion planning
- configuration space
- pid controller
- fuzzy controller
- position and orientation
- closed loop
- control architecture
- pose estimation
- robot assisted
- matlab simulink
- real time
- dynamical systems
- path planning
- dynamic model
- evolutionary algorithm
- joint angles
- induction motor