Real time hierarchical robust control for 5 DOF ANAT redundant robot using sliding mode technique.
Raouf FarehMohamad R. SaadMaarouf SaadPublished in: CCECE (2012)
Keyphrases
- sliding mode
- robot manipulators
- real time
- trajectory tracking
- end effector
- formation control
- control system
- sliding mode control
- control strategy
- variable structure
- stability analysis
- trajectory tracking control
- robotic manipulator
- robotic arm
- sliding mode controller
- control scheme
- control law
- mobile robot
- sliding surface
- dynamic model
- vision system
- path planning
- degrees of freedom
- autonomous robots
- adaptive control
- closed loop
- robotic systems
- neural network controller
- control method
- visual servoing
- multi robot
- control theory
- robot control
- nonlinear systems
- pid controller
- evolutionary algorithm
- state space
- control algorithm
- motion planning
- fuzzy neural network