A new model-based tracking controller for robot manipulators using trajectory pattern inverse dynamics.
Behruz FardaneshJahangir RastegarPublished in: IEEE Trans. Robotics Autom. (1992)
Keyphrases
- robot manipulators
- model based tracking
- inverse dynamics
- trajectory planning
- control scheme
- parallel manipulator
- pid controller
- nonlinear systems
- dynamic model
- end effector
- inverse kinematics
- sliding mode
- variable structure
- control law
- fuzzy controller
- closed loop
- visual tracking
- control system
- adaptive control
- real time
- control method
- control strategy
- fuzzy control
- dynamic programming
- motion planning
- vision system
- rough sets
- clustering algorithm