Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition.
Wen-Hong ZhuJoris De SchutterPublished in: IEEE Trans. Robotics Autom. (1999)
Keyphrases
- adaptive control
- robot manipulators
- adaptive controller
- variable structure
- control scheme
- control law
- control method
- feedback control
- nonlinear systems
- inverse kinematics
- pid controller
- dynamic environments
- end effector
- reinforcement learning
- dynamic model
- closed loop
- control algorithm
- control strategy
- neural network
- real time
- control parameters
- fuzzy rules
- chaotic systems
- control system
- artificial neural networks
- tracking error