Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators.
Houssem AbdellatifBodo HeimannJens KotlarskiPublished in: IROS (2008)
Keyphrases
- controller design
- dynamic model
- parallel manipulator
- degrees of freedom
- control scheme
- trajectory tracking
- inverse dynamics
- sliding mode
- experimental data
- nonlinear systems
- tracking error
- control strategies
- robot manipulators
- control system
- motion planning
- control strategy
- pose estimation
- closed loop
- input output
- fuzzy controller
- d objects
- learning algorithm
- neural network