Stable Task Space Neuro Controller for Robot Manipulators Without Velocity Measurements.
Gerardo LoretoRuben GarridoPublished in: MICAI (2005)
Keyphrases
- robot manipulators
- control scheme
- adaptive controller
- pid controller
- sliding mode control
- sliding mode
- control system
- control of robot manipulators
- closed loop
- dynamic model
- inverse kinematics
- artificial neural networks
- variable structure
- neural network
- adaptive control
- control method
- end effector
- neuro fuzzy
- adaptive fuzzy
- tracking error
- expert systems
- decision making
- learning algorithm