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A proof of the structure of the minimum-time control law of robotic manipulators using a Hamiltonian formulation.
Yaobin Chen
Alan A. Desrochers
Published in:
IEEE Trans. Robotics Autom. (1990)
Keyphrases
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control law
robotic manipulator
visual servoing
control scheme
nonlinear systems
closed loop
adaptive control
control system
control algorithm
optimal control
control parameters
multi objective
real time
motion planning
optimization algorithm
multi modal
fuzzy logic
dynamic programming
neural network