A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces.
Hongbin LinChiu-Wai Vincent HuiYan WangAnton DeguetPeter KazanzidesK. W. Samuel AuPublished in: CoRR (2020)
Keyphrases
- control strategy
- control loop
- variable structure
- control scheme
- control system
- control algorithm
- operating conditions
- control method
- mathematical model
- optimal control
- control strategies
- neural network controller
- speed control
- transient response
- fuzzy logic control
- robot motion
- control law
- sliding mode
- real time
- matlab simulink
- predictive control
- force control
- mobile robot
- sliding mode control
- lyapunov function
- contact force
- pi controller
- robotic systems
- fuzzy controller
- pwm rectifier
- robot manipulators
- adaptive control
- autonomous robots