Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles.
Hiroyuki KawaiToshiyuki MuraoRyuichi SatoMasayuki FujitaPublished in: CCA (2011)
Keyphrases
- robot manipulators
- sliding mode
- end effector
- force control
- impedance control
- sliding mode control
- inverse kinematics
- control scheme
- control of robot manipulators
- dynamic model
- robotic manipulator
- position control
- adaptive controller
- variable structure
- closed loop
- control system
- control algorithm
- control law
- neural network
- degrees of freedom
- vision system
- stability analysis
- robot arm
- optimal control
- manufacturing systems
- path planning
- social networks