Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles.
Yusuke IchijoToshiyuki MuraoHiroyuki KawaiMasayuki FujitaPublished in: CCA (2014)
Keyphrases
- robot manipulators
- iterative learning control
- sliding mode
- trajectory tracking
- end effector
- dynamic model
- sliding mode control
- inverse kinematics
- control scheme
- force control
- closed loop
- degrees of freedom
- variable structure
- iterative learning
- pid controller
- experimental data
- control system
- bi directional
- path planning
- control law
- intelligent control
- pose estimation
- fuzzy neural network
- control strategy
- real time