Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot.
Filip BjelonicArne SachtlerAlin Albu-SchäfferCosimo Della SantinaPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- closed loop
- open loop
- control law
- control system
- force control
- feedback controller
- trajectory tracking
- control scheme
- feedback control
- visual servoing
- parameter identification
- control loop
- external disturbances
- asymptotic stability
- pid controller
- control strategy
- multi robot
- variable structure
- neural network controller
- vision system
- disturbance rejection
- mobile robot