Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay.
Luis Govinda García-ValdovinosVicente Parra-VegaMarco A. ArteagaPublished in: Robotics Auton. Syst. (2007)
Keyphrases
- sliding mode
- impedance control
- force control
- robot manipulators
- control strategy
- sliding mode control
- control scheme
- stability analysis
- control law
- variable structure
- end effector
- control architecture
- closed loop
- optimal control
- position control
- robotic manipulator
- inverse kinematics
- nonlinear systems
- chaotic systems
- force feedback
- model free
- master slave
- control strategies
- control system
- control theory
- real time
- dynamic model
- evolutionary algorithm