A feed-forward friction compensation motion controller for a tendon-sheath-driven flexible robotic gripper.
Wenjun XuH. K. LeungPhilip W. Y. ChiuCarmen C. Y. PoonPublished in: ROBIO (2013)
Keyphrases
- feed forward
- force control
- contact force
- robotic arm
- disturbance rejection
- end effector
- neural network
- robotic manipulator
- motion control
- motion planning
- back propagation
- visual motion
- real time
- artificial neural networks
- neural nets
- position and orientation
- control loop
- space time
- robot manipulators
- hidden layer
- image sequences
- recurrent neural networks
- limit cycle
- hand eye calibration
- closed loop
- motion analysis
- mobile robot
- finite element analysis
- rigid body
- motion estimation
- activation function
- motion model
- human motion
- biologically plausible
- control system
- feed forward neural networks
- motion parameters
- degrees of freedom
- optical flow
- pid controller
- hand gestures
- visual cortex
- camera motion
- inverse kinematics
- visual servoing
- humanoid robot
- moving objects
- vision sensor
- autonomous robots
- vision system
- artificial intelligence
- finite element model
- robot control
- control law
- control strategy
- robotic systems
- control scheme
- control method
- motion patterns
- control algorithm