Neural network based adaptive compensator for motion/force control of constrained mobile manipulators with uncertainties.
H. P. SinghNagarajan SukavanamPublished in: HIS (2011)
Keyphrases
- force control
- control law
- control scheme
- robot manipulators
- adaptive control
- control strategy
- robotic cell
- inverse kinematics
- closed loop
- motion planning
- image sequences
- sliding mode control
- end effector
- path planning
- robotic systems
- camera motion
- power system
- degrees of freedom
- motion capture
- operating conditions
- dynamic model
- nonlinear systems
- human motion
- control system
- control algorithm
- optimal control
- neural network
- configuration space
- optical flow
- impedance control