Backstepping passivity adaptive position control for robotic manipulators.
Donatien Nganga-KouyaMaarouf SaadL. LamarchePublished in: ACC (2002)
Keyphrases
- robotic manipulator
- position control
- impedance control
- control scheme
- closed loop
- control strategy
- force control
- control law
- control system
- robotic systems
- degrees of freedom
- control strategies
- end effector
- adaptive control
- visual servoing
- robot arm
- nonlinear systems
- video sequences
- dc motor
- neural network
- pid controller