Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation.
Sung-moon HurSung-Kyun KimYonghwan OhSang-Rok OhPublished in: RO-MAN (2012)
Keyphrases
- robot manipulators
- feed forward
- disturbance rejection
- control scheme
- pid controller
- control loop
- control system
- closed loop
- position control
- force control
- back propagation
- control strategy
- control of robot manipulators
- dynamic model
- neural nets
- control method
- control law
- inverse kinematics
- tracking error
- networked control systems
- control algorithm
- artificial neural networks
- end effector
- bp neural network
- trajectory planning
- induction motor
- hidden layer
- recurrent neural networks
- neural network
- fuzzy control
- adaptive control
- rbf neural network
- particle swarm optimization
- input output
- mobile robot
- artificial intelligence
- data mining
- finite element analysis
- matlab simulink
- fuzzy logic controller
- degrees of freedom