Feedback linearization of robot manipulators and riemannian curvature.

Nazareth Bedrossian Mark W. Spong

Published in: J. Field Robotics (1995)

Keyphrases

robot manipulators
inverse kinematics
control of robot manipulators
control scheme
trajectory planning
differential geometry
end effector
multiscale
dynamic model
real time
neural network
sliding mode
fuzzy neural network
pid controller
input output
pattern recognition
objective function
decision making