Development of an elastic redundant closed-loop robot manipulator and its Flexibility control.
Daisuke MatsuuraNobuyuki IwatsukiMasafumi OkadaPublished in: IROS (2009)
Keyphrases
- closed loop
- robot manipulators
- control scheme
- force control
- open loop
- control system
- pid controller
- feedback control
- control law
- control loop
- tracking error
- guaranteed cost
- controller design
- sliding mode control
- feedback controller
- trajectory tracking
- control strategy
- inverse kinematics
- disturbance rejection
- robotic manipulator
- position control
- external disturbances
- sliding mode
- reference trajectory
- end effector
- inverted pendulum
- real time
- fuzzy controller
- dynamic model
- adaptive control
- control algorithm
- control method
- variable structure
- robot arm
- control architecture
- control parameters
- fuzzy control