Adaptive Hybrid Force/Position Control of a Flexible Manipulator for Automated Deburring with On-line Cutting Trajectory Modification.
I-Ching LinLi-Chen FuPublished in: ICRA (1998)
Keyphrases
- position control
- bacterial foraging
- control scheme
- pid controller
- flexible manipulator
- force control
- robotic manipulator
- closed loop
- control system
- robot arm
- control strategies
- feedback loop
- impedance control
- dc motor
- end effector
- degrees of freedom
- control architecture
- control method
- robot manipulators
- single link
- control law
- neural network
- motion planning
- rbf neural network
- dynamic model
- inverse kinematics
- control strategy
- particle swarm optimization
- adaptive control
- fuzzy control
- simulated annealing
- artificial neural networks