Kinematic Path Control of a Redundant Robot Arm in Sliding Mode.
Evgeniy KrastevPublished in: RAAD (2017)
Keyphrases
- sliding mode
- robot arm
- inverse kinematics
- robot manipulators
- control law
- end effector
- control strategy
- control strategies
- variable structure
- sliding mode control
- control system
- nonlinear systems
- control scheme
- stability analysis
- closed loop
- trajectory tracking
- control theory
- sliding mode controller
- adaptive control
- motion planning
- visual servoing
- control algorithm
- position and orientation
- control method
- dynamic model
- fuzzy controller
- optimal control
- degrees of freedom
- pid controller
- adaptive neural
- fuzzy neural network
- mathematical model
- vision system