Position controller based on state observer for 6-DOF parallel teleoperation manipulator.
Mingde GongQiusheng ChangPublished in: EMEIT (2011)
Keyphrases
- robotic manipulator
- end effector
- degrees of freedom
- master slave
- position control
- control system
- robotic arm
- robot manipulators
- control scheme
- inverse kinematics
- control architecture
- vision system
- visual servoing
- control method
- robotic systems
- closed loop
- robot arm
- parallel processing
- control law
- force feedback
- contact force
- human arm
- reinforcement learning
- multiple models
- position and orientation
- sliding mode control
- path planning