A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs.
Arturo Zavala-RíoVíctor SantibáñezPublished in: IEEE Trans. Robotics (2007)
Keyphrases
- robot manipulators
- control law
- control scheme
- force control
- sliding mode
- closed loop
- adaptive controller
- variable structure
- end effector
- inverse kinematics
- control strategy
- control system
- adaptive control
- nonlinear systems
- pid controller
- control algorithm
- control theory
- tracking error
- sliding mode control
- dynamic model
- visual servoing
- optimal control
- lyapunov function
- real time
- vision system
- mathematical model
- fuzzy controller
- control method
- reinforcement learning