Virtual UR5 Robot for Online Learning of Inverse Kinematics and Independent Joint Control Validated with FSM Position Control.
Filemón Arenas-RosalesFernando Martell-ChávezIrma Y. Sánchez ChávezCarlos A. Paredes-OrtaPublished in: Robotics (2023)
Keyphrases
- position control
- inverse kinematics
- end effector
- online learning
- robot arm
- robot manipulators
- force feedback
- force control
- robotic manipulator
- degrees of freedom
- control scheme
- motion planning
- joint angles
- control strategies
- vision system
- position and orientation
- robotic arm
- visual servoing
- dynamic model
- three dimensional
- feedback loop
- control law
- pid controller
- real robot
- nonlinear systems
- camera motion
- pose estimation
- real time