Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification.
Bo DongKeping LiuYuanchun LiPublished in: J. Intell. Robotic Syst. (2017)
Keyphrases
- experimental verification
- robot manipulators
- decentralized control
- end effector
- inverse kinematics
- modular robots
- control of robot manipulators
- control scheme
- position and orientation
- real time
- artificial intelligence
- vision system
- markov decision processes
- collective behavior
- decision making
- optimization algorithm