A multivariable control scheme for robot manipulators.
Mahmoud TarokhHomayoun SerajiPublished in: J. Field Robotics (1991)
Keyphrases
- control scheme
- robot manipulators
- closed loop
- multi input multi output
- inverse kinematics
- control system
- control strategy
- dynamic model
- force control
- control law
- sliding mode control
- pid controller
- control strategies
- fuzzy controller
- control loop
- input output
- end effector
- sliding mode
- feedback control
- nonlinear systems
- transfer function
- multi objective
- variable structure
- real time
- pid control
- neural network
- tracking error