A Unit-Gain D-type Iterative Learning Control Scheme: Application to a 6-DOF Robot Manipulator.
Yongqiang YeAbdelhamid TayebiPeter Xiaoping LiuPublished in: ISIC (2007)
Keyphrases
- control scheme
- robot manipulators
- closed loop
- iterative learning
- robotic manipulator
- dynamic model
- end effector
- control of robot manipulators
- control strategy
- inverse kinematics
- force control
- control system
- pid controller
- control law
- position control
- fuzzy controller
- sliding mode control
- sliding mode
- trajectory tracking
- degrees of freedom
- training set