Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator.
Junji OakiShuichi AdachiPublished in: CCA (2015)
Keyphrases
- robot arm
- control strategies
- adaptive neural
- nonlinear systems
- end effector
- controller design
- dead zone
- control strategy
- motion planning
- control system
- control scheme
- inverse kinematics
- control law
- sliding mode control
- highly nonlinear
- skill learning
- nonlinear functions
- position and orientation
- joint angles
- active control
- real time
- robot manipulators
- adaptive control
- mobile robot
- artificial neural networks
- neural network controller
- genetic algorithm
- neural network