On the Convergence of a Closed-Loop Inverse Kinematics Solver With Time-Varying Task Functions.
Mario Daniele FioreCiro NatalePublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- closed loop
- inverse kinematics
- control scheme
- robot manipulators
- control law
- parameter uncertainties
- open loop
- robot arm
- control system
- feedback control
- position and orientation
- motion planning
- pid controller
- end effector
- trajectory tracking
- nonlinear systems
- real time
- convergence rate
- iterative learning control
- tracking error
- basis functions
- joint angles
- neural network
- multi modal
- fuzzy controller
- degrees of freedom