Nonlinear basic stability concept of the hybrid position/force control scheme for robot manipulators.
Tetsuro YabutaPublished in: IEEE Trans. Robotics Autom. (1992)
Keyphrases
- control scheme
- position control
- robot manipulators
- feedback controller
- force control
- closed loop
- end effector
- external disturbances
- control system
- robotic manipulator
- neural network controller
- control law
- dynamic model
- inverse kinematics
- control strategy
- pid controller
- predictive control
- controller design
- sliding mode control
- fault tolerant control
- limit cycle
- fuzzy controller
- tracking error
- variable structure
- stability analysis
- sliding mode
- multi objective
- highly nonlinear
- adaptive control
- neuro fuzzy
- experimental data
- support vector machine
- human arm