An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix.
Mariana de Paula Assis FonsecaBruno Vilhena AdornoPhilippe FraissePublished in: ICAR (2019)
Keyphrases
- joint space
- robot manipulators
- end effector
- control scheme
- force control
- inverse kinematics
- pid controller
- trajectory planning
- control of robot manipulators
- closed loop
- dynamic model
- control system
- degrees of freedom
- control law
- control strategy
- fuzzy controller
- robot arm
- particle swarm optimization
- fuzzy neural network
- rbf neural network
- global optimization
- vision system
- learning algorithm