A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics.
Sadao KawamuraJinwoo JunKatsuya KanaokaHiroaki IchiiPublished in: IROS (2006)
Keyphrases
- control scheme
- robot manipulators
- closed loop
- dynamic model
- trajectory tracking
- control system
- control law
- sliding mode
- neural network controller
- tracking error
- pid controller
- control strategy
- force control
- inverse kinematics
- desired trajectory
- sliding mode control
- controller design
- feedback control
- fuzzy controller
- end effector
- visual servoing
- control method
- nonlinear systems
- variable structure
- vision system
- real time