A class of nonlinear PD-type controllers for robot manipulators.

Rafael Kelly Ricardo O. Carelli

Published in: J. Field Robotics (1996)

Keyphrases

robot manipulators
variable structure
adaptive controller
sliding mode
control of robot manipulators
control scheme
trajectory planning
inverse kinematics
dynamic model
control system
control law
adaptive control
real time
differential evolution
reinforcement learning
feature selection
neural network