On robustness of PD control with gravity compensation of torque-driven robot manipulators.
Rafael KellyCarmen MonroyPublished in: ICCAD (2019)
Keyphrases
- robot manipulators
- control scheme
- dynamic model
- force control
- inverse kinematics
- adaptive controller
- sliding mode control
- control system
- control of robot manipulators
- trajectory planning
- control strategy
- end effector
- closed loop
- sliding mode
- induction motor
- variable structure
- pid controller
- control theory
- fuzzy controller