Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective.
Jialiang FanLong JinZhengtai XieShuai LiYu ZhengPublished in: IEEE Trans. Ind. Informatics (2022)
Keyphrases
- robot manipulators
- control scheme
- end effector
- inverse kinematics
- data driven
- force control
- robotic manipulator
- position control
- control law
- closed loop
- human arm
- control system
- control strategy
- dynamic model
- predictive control
- pid controller
- force feedback
- visual servoing
- controller design
- degrees of freedom
- robot arm
- sliding mode control
- joint angles
- robotic arm
- fuzzy controller
- neural model
- control loop
- position and orientation
- induction motor
- tracking error
- neural network
- control algorithm
- limit cycle
- vision system
- motion planning
- sliding mode
- image sequences